lin-epics-modules/motorBase
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Removed development support for reading motor speeds, and accelerations while trajectory was executing. They are not a reliable way to assess trajectory execution.

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timmmooney
2013-05-02 20:14:39 +00:00
parent 0600479d4e
commit f9214e66b9
1 changed files with 1 additions and 47 deletions
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motorApp/OmsSrc/MAX_trajectoryScan.st
+1 -47
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@@ -158,7 +158,6 @@ unsigned long startTime;
%% static int writeOnly(SS_ID ssId, struct UserVar *pVar, char *command);
%% static int writeRead(SS_ID ssId, struct UserVar *pVar, char *command, char *reply);
%% static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos, epicsInt32 *raw, double *dtime);
%% static int getMotorPositionsRB(SS_ID ssId, struct UserVar *pVar, double *pos, epicsInt32 *rawP, int *rawV, int *rawA, double *dtime);
%% static int getMotorMoving(SS_ID ssId, struct UserVar *pVar, int movingMask);
%% static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar);
%% static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar);
@@ -519,11 +518,7 @@ ss maxTrajectoryScan {
if (!waitingForTrigger) {
/* Get the current motor positions, post them */
if (debugLevel < DEBUG_VA) {
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, &(pVar->dtime));
} else {
%%getMotorPositionsRB(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, pVar->motorCurrentVRaw, pVar->motorCurrentARaw, &(pVar->dtime));
}
%%getMotorPositions(ssId, pVar, pVar->motorCurrent, pVar->motorCurrentRaw, &(pVar->dtime));
elapsedTime = dtime;
doPoll = (dtime - lastPollTime) > POLL_INTERVAL;
@@ -537,12 +532,6 @@ ss maxTrajectoryScan {
motorError[j][currPulse] = dtime;
if (debugLevel >= 10) printf("wait_execute: motor %d: rb=%f, t=%f\n",
j, motorReadbacks[j][currPulse], motorError[j][currPulse]);
if (j==0 && (debugLevel >= DEBUG_VA)) {
motorReadbacks[j+1][currPulse] = motorCurrentRaw[j];
motorReadbacks[j+2][currPulse] = motorCurrentVRaw[j];
motorReadbacks[j+3][currPulse] = motorCurrentARaw[j];
motorReadbacks[j+4][currPulse] = dtime;
}
}
/*** compare current time, position with desired trajectory ***/
/* bracket dtime in the interval [realTimeTrajectory[i], realTimeTrajectory[i+1]] */
@@ -872,41 +861,6 @@ static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos, epic
return(0);
}
/* getMotorPositions returns the positions of each motor, and maybe velocity and acceleration */
static int getMotorPositionsRB(SS_ID ssId, struct UserVar *pVar, double *pos, epicsInt32 *rawP, int *rawV, int *rawA, double *dt)
{
int j;
int dir;
epicsTimeStamp currtime;
char vBuf[MAX_MESSAGE_STRING], aBuf[MAX_MESSAGE_STRING];
MAXV_getPositions(pVar->cardNumber, rawP, pVar->numAxes);
epicsTimeGetCurrent(&currtime);
*dt = epicsTimeDiffInSeconds(&currtime, &eStartTime);
for (j=0; j<pVar->numAxes; j++) {
if (pVar->epicsMotorDir[j] == 0) dir=1; else dir=-1;
/*pos[j] = rawP[j]*dir*pVar->epicsMotorMres[j] + pVar->epicsMotorOff[j];*/
pos[j] = rawToUser(rawP[j], pVar->epicsMotorOff[j], dir, pVar->epicsMotorMres[j]);
}
/* Read the velocity and acceleration for task 1 */
if ((pVar->execState == EXECUTE_STATE_EXECUTING) && (pVar->debugLevel >= DEBUG_VA)) {
writeRead(ssId, pVar, "VRV[1];", vBuf);
writeRead(ssId, pVar, "VRC[1];", aBuf);
rawV[0] = atol(&(vBuf[1]));
rawA[0] = atol(&(aBuf[1]));
printf("getMotorPositionsRB: dt=%6.3f, p=%7d, v=%7d, a=%7d\n", *dt, rawP[0], rawV[0], rawA[0]);
if (pVar->debugLevel >= 10) printf("\n");
} else if (pVar->debugLevel >= 1) {
printf("getMotorPositionsRB: dt=%6.3f, p=%7d\n", *dt, rawP[0]);
}
epicsThreadSleep(READ_INTERVAL);
return(0);
}
/* getMotorMoving returns 1 if any of the motors in movingMask are moving */
static int getMotorMoving(SS_ID ssId, struct UserVar *pVar, int movingMask)