lin-epics-modules/motorBase
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While trajectory is executing, check at 10 Hz. (Previously checked as fast as processor would go.)

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Record difference between pfbkprog and pfbkcal (position feedback commands), and correct scope data for the difference.
Make sure first command sent to sendReceive() causes it to check that the AeroBasic program is running.
Condition all scope commands on the macro variable, USE_SCOPE.
This commit is contained in:
timmmooney
2013-11-25 19:26:37 +00:00
parent 9783e9fad8
commit f6943e2ee1
1 changed files with 21 additions and 3 deletions
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motorApp/AerotechSrc/EnsembleTrajectoryScan.st
+21 -3
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@@ -133,6 +133,7 @@ double position[MAX_AXES][MAX_ELEMENTS];
double velocity[MAX_AXES][MAX_ELEMENTS];
double motorStart[MAX_AXES];
double motorCurr[MAX_AXES];
double motorPosOffset[MAX_AXES];
/* variables for constructing trajectory commands */
int movingMask;
@@ -225,6 +226,7 @@ ss EnsembleTrajectoryScan {
for (j=0; j<numAxes; j++) {
motorCurrentIndex[j] = pvIndex(motorCurrent[j]);
epicsMotorDoneIndex[j] = pvIndex(epicsMotorDone[j]);
motorPosOffset[j] = 0.;
}
elapsedTimeIndex = pvIndex(elapsedTime);
abortState = ABORT_STATE_NONE;
@@ -484,7 +486,7 @@ ss EnsembleTrajectoryScan {
pvPut(execute);
} state monitor_inputs
when (execState==EXECUTE_STATE_EXECUTING) {
when ((execState==EXECUTE_STATE_EXECUTING) && delay(0.1)) {
/* Get the current motor positions, post them */
%%epicsTimeGetCurrent(&currTime);
@@ -592,7 +594,7 @@ ss EnsembleTrajectoryScan {
if (j==10) printf("abandoned read of point %d\n", i);
}
motorReadbacks[0][i] = atof(&stringIn[1]) * epicsMotorMres[0];
motorReadbacks[0][i] = atof(&stringIn[1]) * epicsMotorMres[0] + motorPosOffset[0];
motorError[0][i] = motorReadbacks[0][i] - motorTrajectory[0][i];
}
}
@@ -1227,6 +1229,7 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
int intPosition;
double accelDist, accelTime, decelDist, decelTime, positionLast;
double home_position_set=0.;
double posfbkprog, posfbkcal;
pVar->loadingTrajectory = 1;
iGlobalIndex = GLOBALINDEXSTART;
@@ -1241,6 +1244,15 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
/* Program PSO array output */
for (j=0; j<1; j++) {
/* There may be a position offset in place. If so, scope data will need to be corrected. */
sprintf(stringOut, "pfbkprog(@%d)", j);
status = writeRead(ssId, pVar, stringOut, reply);
posfbkprog = atof(&reply[1]);
sprintf(stringOut, "pfbkcal(@%d)", j);
status = writeRead(ssId, pVar, stringOut, reply);
posfbkcal = atof(&reply[1]);
motorPosOffset[j] = posfbkprog - posfbkcal;
/* Calc accel portion of trajectory. Note epicsMotorACCL is accel time. */
accelTime = pVar->epicsMotorACCL[j];
accelDist = (pVar->velocity[j][0] * pVar->epicsMotorACCL[j]) / 2;
@@ -1337,7 +1349,7 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
pVar->scopeDataIntervalMS = NINT(1000 * (pVar->time*1.1)/pVar->nScopeDataPoints);
if (pVar->scopeDataIntervalMS < 1) pVar->scopeDataIntervalMS = 1;
sprintf(stringOut, "SCOPEBUFFER %d", pVar->nScopeDataPoints);
status = sendReceiveCommand(ssId, pVar, stringOut, reply, 0);
status = sendReceiveCommand(ssId, pVar, stringOut, reply, 1);
sprintf(stringOut, "SCOPETRIGPERIOD %d", pVar->scopeDataIntervalMS);
status = sendReceiveCommand(ssId, pVar, stringOut, reply, 0);
#endif
@@ -1406,13 +1418,19 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
if (status) goto bad;
status = writeIntAndCheck(ssId, pVar, iarg2Var, n/3);
#if USE_SCOPE
status = sendReceiveCommand(ssId, pVar, "SCOPETRIG", reply, 0);
#endif
epicsTimeGetCurrent(&startTime);
sprintf(stringOut, "DOTRAJECTORY");
status = sendReceiveCommand(ssId, pVar, stringOut, reply, 0);
#else
#if USE_SCOPE
status = sendReceiveCommand(ssId, pVar, "SCOPETRIG", reply, 0);
#endif
/* Program motion */
status = writeIntAndCheck(ssId, pVar, pvtWaitMSVar, 30);