lin-epics-modules/motorBase
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write max v/a to PVs. Acceleration to final position determined from desired speed (0),, not position.

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This commit is contained in:
timmmooney
2014-05-01 19:48:13 +00:00
parent 532817dcac
commit b5ac1b7d3d
1 changed files with 20 additions and 2 deletions
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motorApp/OmsSrc/MAX_trajectoryScan.st
+20 -2
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@@ -400,6 +400,10 @@ ss maxTrajectoryScan {
vmax = epicsMotorVMAX[j];
if (fabs(vmax) < .001) vmax = epicsMotorVELO[j];
amax = vmax/epicsMotorACCL[j];
motorMVA[j] = 0.;
motorMAA[j] = 0.;
motorMVE[j] = 0;
motorMAE[j] = 0;
for (k=0; k<npoints && !limitViolation; k++) {
posActual = motorTrajectory[j][k];
if (moveMode != MOVE_MODE_ABSOLUTE) posActual += epicsMotorPos[j];
@@ -417,7 +421,21 @@ ss maxTrajectoryScan {
epicsSnprintf(buildMessage, MSGSIZE, "A limit: m%d at pt. %d (%f)", j+1, k+1,
acceleration[j][k]*epicsMotorMres[j]);
}
if (fabs(velocity[j][k]) > motorMVA[j]) {
motorMVA[j] = velocity[j][k];
motorMVE[j] = k;
}
if (fabs(acceleration[j][k]) > motorMAA[j]) {
motorMAA[j] = acceleration[j][k];
motorMAE[j] = k;
}
}
motorMVA[j] *= epicsMotorMres[j];
motorMAA[j] *= epicsMotorMres[j];
pvPut(motorMVA[j]);
pvPut(motorMAA[j]);
pvPut(motorMVE[j]);
pvPut(motorMAE[j]);
}
}
@@ -1060,7 +1078,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
} else {
v_ideal = 0.;
accel_v = (v_ideal - v_out[i-1])/dt;
a_out[i-1] = accel_p;
a_out[i-1] = accel_v;
}
if (pVar->debugLevel >= 7) {
printf("%3d:%8.2f %8.2f %7.2f %8.3f %8.3f %8.3f %8.3f %8.3f\n",
@@ -1086,7 +1104,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
calcMotorTrajectory[i] = calcMotorTrajectory[i-1] + v_out[i-1]*dt + .5 * a_out[i-1]*dt*dt;
}
a_out[npoints-1] = a_out[npoints-2];
if (pVar->debugLevel >= 7) {
printf("buildTrajectory:\n");
printf("%10s %10s %10s %10s %10s\n", "realTime", "motorTraj", "calcTraj", "v_out", "a_out");