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Convert from XPS unit to motor record user coordinates in several places.

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Bug fix: replace break with continue.
Fix velocity calculation in trajectory: the exit velocity of element N is now the
average of the velocity in element N and element N+1.
This commit is contained in:
MarkRivers
2007-06-28 17:52:47 +00:00
parent d75e953aba
commit e3436a7eda
1 changed files with 34 additions and 20 deletions
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motorApp/NewportSrc/XPS_trajectoryScan.st
+34 -20
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@@ -633,10 +633,14 @@ ss xpsTrajectoryPosition {
/* C functions */
%{
/* getMotorPositions returns the positions of each motor */
/* getMotorPositions returns the positions of each motor.
* It reads the positions from the controller, and then converts to
* EPICS motor user coordinates */
static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos)
{
int status;
int j;
int dir;
/* Read the current positions of all the axes */
@@ -644,6 +648,11 @@ static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos)
pVar->groupName,pVar->numAxes,pos);
if (status != 0)
printf("Error performing GroupPositionCurrentGet%i\n", status);
/* Convert from XPS units (which are EPICS motor dial units) to user units */
for (j=0; j<pVar->numAxes; j++) {
if (pVar->epicsMotorDir[j] == 0) dir=1; else dir=-1;
pos[j] = pos[j]*dir + pVar->epicsMotorOff[j];
}
return(status);
}
@@ -896,9 +905,8 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
FILE *trajFile;
int i, j, status;
int npoints;
double trajStep;
double trajVel;
double P0, P1, T0, T1;
double D0, D1, T0, T1;
int ftpSocket;
char fileName[NAME_LEN];
double distance;
@@ -930,7 +938,7 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
postVelocity[j] = 0.;
}
for (j=0; j<pVar->numAxes; j++) {
if (!pVar->moveAxis[j]) break;
if (!pVar->moveAxis[j]) continue;
status = PositionerSGammaParametersGet(pVar->pollSocket, pVar->axisName[j],
&maxVelocity[j], &maxAcceleration[j],
&minJerkTime[j], &maxJerkTime[j]);
@@ -985,27 +993,36 @@ static void buildAndVerify(SS_ID ssId, struct UserVar *pVar)
npoints = pVar->nelements-1;
for (i=0; i<npoints; i++) {
T0 = pVar->timeTrajectory[i];
T1 = pVar->timeTrajectory[i+1];
if (i < npoints-1)
T1 = pVar->timeTrajectory[i+1];
else
T1 = T0;
for (j=0; j<pVar->numAxes; j++) {
P0 = pVar->motorTrajectory[j][i];
P1 = pVar->motorTrajectory[j][i+1];
if (pVar->moveMode == MOVE_MODE_RELATIVE) {
trajStep = pVar->motorTrajectory[j][i];
D0 = pVar->motorTrajectory[j][i];
if (i < npoints-1)
D1 = pVar->motorTrajectory[j][i+1];
else
D1 = D0;
} else {
trajStep = pVar->motorTrajectory[j][i+1] -
D0 = pVar->motorTrajectory[j][i+1] -
pVar->motorTrajectory[j][i];
if (i < npoints-1)
D1 = pVar->motorTrajectory[j][i+2] -
pVar->motorTrajectory[j][i+1];
else
D1 = D0;
}
/* Average either side of the point? */
trajVel = trajStep / T0;
trajVel = (D0 + D1) / (T0 + T1);
if (!(pVar->moveAxis[j])) {
trajStep = 0.0; /* Axis turned off*/
D0 = 0.0; /* Axis turned off*/
trajVel = 0.0;
}
if (j == 0) fprintf(trajFile,"%f", pVar->timeTrajectory[i]);
fprintf(trajFile,", %f, %f",trajStep,trajVel);
fprintf(trajFile,", %f, %f",D0,trajVel);
if (j == (pVar->numAxes-1)) fprintf(trajFile,"\n");
}
}
@@ -1131,6 +1148,7 @@ static void readGathering(SS_ID ssId, struct UserVar *pVar)
double setpointPosition, actualPosition;
int ftpSocket;
int status;
int dir;
if (pVar->debugLevel > 0) {
printf("XPS_trajectoryScan: readGathering:"
@@ -1170,12 +1188,6 @@ static void readGathering(SS_ID ssId, struct UserVar *pVar)
fgets (buffer, MAX_GATHERING_STRING, gatheringFile);
for (i=0; i<pVar->npulses; i++) {
/* There is a bug in the current V2.0.1 firmware that puts 2 lines in the
* Gathering.dat file when there should be 1.
* Skip the first one.
* THIS fgets NEEDS TO BE REMOVED WHEN V2.1 FIRMWARE IS RELEASED.
*/
/* fgets (buffer, MAX_GATHERING_STRING, gatheringFile); */
for (j=0; j<pVar->numAxes; j++) {
/* Note the trailing white space in this format is required to make
* fscanf read the newline */
@@ -1186,8 +1198,10 @@ static void readGathering(SS_ID ssId, struct UserVar *pVar)
nitems, NUM_GATHERING_ITEMS);
goto done;
}
pVar->motorReadbacks[j][i] = actualPosition;
pVar->motorError[j][i] = actualPosition - setpointPosition;
/* Convert from XPS units to EPICS motor user units */
if (pVar->epicsMotorDir[j] == 0) dir=1; else dir=-1;
pVar->motorReadbacks[j][i] = actualPosition * dir + pVar->epicsMotorOff[j];
}
}