lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Removed post-executiuon reporting of motor position as function of time. It was based on reading the motor, and was much less accurate than the actual motor steps.

Browse Source
This commit is contained in:
timmmooney
2013-05-02 20:27:32 +00:00
parent 5a4918191b
commit a2338a21a5
1 changed files with 1 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/OmsSrc/MAX_trajectoryScan.st
+1 -46
View File
@@ -635,48 +635,8 @@ ss maxTrajectoryScan {
pvPut(readState);
readStatus=STATUS_UNDEFINED;
pvPut(readStatus);
#if 1
/* During trajectory execution, time and motor position were accumulated into
* motorError[j] and motorReadbacks[j], respectively. Interpolate motorReadbacks[j]
* to get readbacks at the times in realTimeTrajectory, so they can be plotted
* on the same axis with motorTrajectory[j].
*/
for (j=0; j<numAxes; j++) {
if (moveMode != MOVE_MODE_ABSOLUTE) {
for (k=0; k<=currPulse; k++) motorReadbacks[j][k] -= motorStart[j];
}
if (debugLevel >= 10) printf("state readback: motor %d\n", j);
for (k=0, i=0; k<npoints; k++) {
while ((motorError[j][i] < realTimeTrajectory[k]) && (i < MAX_PULSES-1)) i++;
if ((i>0) && (fabs(motorError[j][i] - motorError[j][i-1]) > 1e-6)) {
frac = (realTimeTrajectory[k] - motorError[j][i-1])/(motorError[j][i] - motorError[j][i-1]);
dbuf[k] = motorReadbacks[j][i-1] + frac * (motorReadbacks[j][i] - motorReadbacks[j][i-1]);
/*if (k==npoints-1) printf("interp: motorReadbacks[%d][%d]=%f\n", j, k, dbuf[k]);*/
} else {
dbuf[k] = motorReadbacks[j][i];
/*if (k==npoints-1) printf("copy: motorReadbacks[%d][%d]=%f\n", j, k, dbuf[k]);*/
}
if (debugLevel >= 10) printf("state readback: rb=%f, t=%f\n", dbuf[k], realTimeTrajectory[k]);
}
for (; k<MAX_PULSES; k++) dbuf[k] = 0.;
/* copy to motorReadbacks */
for (k=0; k<MAX_PULSES; k++) motorReadbacks[j][k] = dbuf[k];
/* calculate error, ignoring last (deceleration) point */
for (k=0; k<npoints-1; k++) {
motorError[j][k] = motorReadbacks[j][k] - motorTrajectory[j][k];
}
for (; k<MAX_PULSES; k++) motorError[j][k] = motorError[j][k-1];
}
for (k=currPulse; k<MAX_PULSES; k++){
motorReadbacks[1][k] = motorReadbacks[1][k-1];
motorReadbacks[2][k] = motorReadbacks[2][k-1];
motorReadbacks[3][k] = motorReadbacks[3][k-1];
motorReadbacks[4][k] = motorReadbacks[4][k-1];
}
#endif
/* Post the readback and error arrays */
/* Post the readback arrays */
/*for (j=0; j<numAxes; j++) {*/
for (j=0; j<MAX_AXES; j++) {
pvPut(motorReadbacks[j]);
@@ -705,10 +665,6 @@ ss maxTrajectoryScan {
ss trajectoryAbort {
state monitorAbort {
when (efTestAndClear(abortMon) && (abort==1)) {
#if 0
sprintf(stringOut, "SA;"); /* Stop all motors, and flush all queues. */
%%writeOnly(ssId, pVar, pVar->stringOut);
#else
for (j=0; j<MAX_AXES; j++) {
if (moveAxis[j]) {
sprintf(stringOut, "AM; VH[%d]1;", j+1);
@@ -725,7 +681,6 @@ ss trajectoryAbort {
strcat(stringOut, ";");
if (debugLevel) printf("abort: sending command '%s'\n", stringOut);
%%writeOnly(ssId, pVar, pVar->stringOut);
#endif
execStatus = STATUS_ABORT;
pvPut(execStatus);