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Merge branch 'torsten/181203_1217_add_ACCS_field' of github.com:EuropeanSpallationSource/motor into add_accs_field

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This commit is contained in:
Kevin Peterson
2023-05-15 10:55:34 -05:00
parent 891a66e680 02368bc985
commit 87f44d9e66
3 changed files with 127 additions and 5 deletions
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docs/motorRecord.html
+11 -2
View File
@@ -264,6 +264,14 @@ below.
<td>DOUBLE</td>
<td>acceleration time</td>
</tr>
<tr>
<td><a href="#Fields_motion">ACCS</a></td>
<td>R/W</td>
<td>Acceleration (EGU/s^2)</td>
<td>DOUBLE</td>
<td><br>
</td>
</tr>
<tr>
<td><a href="#Fields_status">ADEL</a></td>
<td>R/W</td>
@@ -1713,7 +1721,8 @@ below.
<td colspan="5">The motor record expects the hardware to produce a trapezoidal
speed profile. That is, the motor speed is expected to increase linearly with
time from the base speed, VBAS, to the full speed, VELO, in ACCL seconds. At the
end of a motion, the speed is expected to decrease similarly to VBAS.&nbsp;</td>
end of a motion, the speed is expected to decrease similarly to VBAS.
Note that the ACCS field can be use to specify the acceleration in EGU/s^2.&nbsp;</td>
</tr>
<tr>
<td>JVEL</td>
@@ -2377,7 +2386,7 @@ below.
<td colspan="5">When one of these fields is set to 1, the record will
immediately reset it to 0, and the motor will move (with backlash takeout if
BDST is nonzero) by a distance TWV (in user coordinates) at the acceleration
specified by ACCL and at speed VELO.</td>
specified by ACCL/ACCS and at speed VELO.</td>
</tr>
<tr valign="top">
<td>TWV</td>
motorApp/MotorSrc/motorRecord.cc
+101 -2
View File
@@ -480,6 +480,83 @@ static void callbackFunc(struct callback *pcb)
}
static double accEGUfromVelo(motorRecord *pmr, double veloEGU)
{
double vmin = pmr->vbas;
double vmax = fabs(veloEGU);
double acc;
/* ACCL or ACCS */
if (pmr->accu == motorACCSused_Accs)
acc = pmr->accs;
else if (vmax > vmin)
acc = (vmax - vmin) / pmr->accl;
else
acc = vmax / pmr->accl;
return acc;
}
static void updateACCLfromACCS(motorRecord *pmr)
{
if (pmr->accu != motorACCSused_Accs)
{
pmr->accu = motorACCSused_Accs;
db_post_events(pmr, &pmr->accu, DBE_VAL_LOG);
}
if (pmr->accs > 0.0)
{
double temp_dbl = pmr->velo / pmr->accs;
if (pmr->accl != temp_dbl)
{
pmr->accl = temp_dbl;
db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
}
}
}
static void updateACCSfromACCL(motorRecord *pmr)
{
double temp_dbl;
if (pmr->accu != motorACCSused_Accl)
{
pmr->accu = motorACCSused_Accl;
db_post_events(pmr, &pmr->accu, DBE_VAL_LOG);
}
temp_dbl = pmr->velo / pmr->accl;
if (pmr->accs != temp_dbl)
{
pmr->accs = temp_dbl;
db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
}
}
static void updateACCL_ACCSfromVELO(motorRecord *pmr)
{
if (pmr->accu == motorACCSused_Accs)
{
if (pmr->accs > 0.0)
{
double temp_dbl = pmr->velo / pmr->accs;
if (pmr->accl != temp_dbl)
{
pmr->accl = temp_dbl;
db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
}
}
}
else
{
double temp_dbl = pmr->velo / pmr->accl;
if (pmr->accs != temp_dbl)
{
pmr->accs = temp_dbl;
db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
}
}
}
/******************************************************************************
enforceMinRetryDeadband()
@@ -864,7 +941,7 @@ static long postProcess(motorRecord * pmr)
if (pmr->mip & MIP_JOG_STOP)
{
double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl);
double acc = accEGUfromVelo(pmr, pmr->velo);
if (vel <= vbase)
vel = vbase + 1;
@@ -2195,7 +2272,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double newpos = pmr->dval / pmr->mres; /* where to go */
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl); /* normal accel. */
double acc = accEGUfromVelo(pmr, pmr->velo);
/*
* 'bpos' is one backlash distance away from 'newpos'.
*/
@@ -2612,6 +2689,7 @@ static long special(DBADDR *paddr, int after)
/* new velo: make s agree */
case motorRecordVELO:
range_check(pmr, &pmr->velo, pmr->vbas, pmr->vmax);
updateACCL_ACCSfromVELO(pmr);
if ((pmr->urev != 0.0) && (pmr->s != (temp_dbl = pmr->velo / fabs_urev)))
{
@@ -2629,6 +2707,7 @@ static long special(DBADDR *paddr, int after)
pmr->velo = temp_dbl;
db_post_events(pmr, &pmr->velo, DBE_VAL_LOG);
}
updateACCL_ACCSfromVELO(pmr);
break;
/* new bvel: make sbak agree */
@@ -2660,6 +2739,13 @@ static long special(DBADDR *paddr, int after)
pmr->accl = 0.1;
db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
}
updateACCSfromACCL(pmr);
break;
/* new accs */
case motorRecordACCS:
db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
updateACCLfromACCS(pmr);
break;
/* new bacc */
@@ -3898,6 +3984,14 @@ static void check_speed_and_resolution(motorRecord * pmr)
db_post_events(pmr, &pmr->sbak, DBE_VAL_LOG);
db_post_events(pmr, &pmr->bvel, DBE_VAL_LOG);
if (pmr->accs && !pmr->accl)
{
/* ACCL == 0.0, ACCS is != 0.0 -> Use ACCS
This is a (possible) new way to configure a database.
Existing Db files will have ACCS == 0.0 and this
is backwards compatibleamd behaves as before */
updateACCLfromACCS(pmr);
}
/* Sanity check on acceleration time. */
if (pmr->accl == 0.0)
{
@@ -3923,6 +4017,11 @@ static void check_speed_and_resolution(motorRecord * pmr)
pmr->hvel = pmr->vbas;
else
range_check(pmr, &pmr->hvel, pmr->vbas, pmr->vmax);
/* Make sure that ACCS/ACCU are initialized */
if (pmr->accu == motorACCSused_Undef)
{
updateACCSfromACCL(pmr);
}
}
/*
motorApp/MotorSrc/motorRecord.dbd
+15 -1
View File
@@ -68,12 +68,15 @@ menu(motorRMOD) {
choice(motorRMOD_G,"Geometric")
choice(motorRMOD_I,"In-Position")
}
menu(motorRSTM) {
choice(motorRSTM_Never, "Never")
choice(motorRSTM_Always, "Always")
choice(motorRSTM_NearZero, "NearZero")
choice(motorRSTM_Conditional, "Conditional")
menu(motorACCSused) {
choice(motorACCSused_Undef,"Undef")
choice(motorACCSused_Accl, "Accl")
choice(motorACCSused_Accs, "Accs")
}
include "menuOmsl.dbd"
@@ -180,6 +183,17 @@ recordtype(motor) {
interest(1)
initial("0.2")
}
field(ACCS,DBF_DOUBLE) {
prompt("Move Accel. (EGU/s^2)")
promptgroup(GUI_COMMON)
special(SPC_MOD)
interest(1)
}
field(ACCU,DBF_MENU) {
prompt("ACCS used")
special(SPC_NOMOD)
menu(motorACCSused)
}
field(BDST,DBF_DOUBLE) {
prompt("BL Distance (EGU)")
asl(ASL0)