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Gather parameter numbers. Use ReverseMotionDirection in conversion from raw encoder to user units.

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This commit is contained in:
timmmooney
2013-11-26 16:46:31 +00:00
parent bdefb9329a
commit f97c65de4b
1 changed files with 19 additions and 5 deletions
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motorApp/AerotechSrc/EnsembleTrajectoryScan.st
+19 -5
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@@ -157,6 +157,13 @@ int scopeDataIntervalMS;
int nAcqDataPoints;
#endif
/* Ensemble parameter numbers */
#define VelocityCommandThreshold_PARM_NUM 35
#define ReverseMotionDirection_PARM_NUM 1
#define HomePositionSet_PARM_NUM 166
%%int encoder_runs_backwards=0;
ss EnsembleTrajectoryScan {
/* Initialize things when first starting */
@@ -594,8 +601,9 @@ ss EnsembleTrajectoryScan {
strcpy(stringLast, stringIn);
if (j==10) printf("abandoned read of point %d\n", i);
}
motorReadbacks[0][i] = atof(&stringIn[1]) * epicsMotorMres[0] + motorPosOffset[0];
k = atoi(&stringIn[1]);
if (encoder_runs_backwards) k *= -1;
motorReadbacks[0][i] = k * epicsMotorMres[0] + motorPosOffset[0];
motorError[0][i] = motorReadbacks[0][i] - motorTrajectory[0][i];
}
}
@@ -845,7 +853,6 @@ static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar)
* Assume someone else will take care of accelerating onto, and decelerating off of trajectory.
*/
#define VELOCITY_LINEAR 1
#define VELOCITY_COMMAND_THRESHOLD_PARM_NUM 35
static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTrajectory,
double *motorTrajectory, int epicsMotorDir, int moveMode, int npoints, int npulses, double motorOffset,
double motorResolution, double *velocity)
@@ -854,7 +861,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
int i, status;
char stringOut[MAX_MESSAGE_STRING], reply[MAX_MESSAGE_STRING];
sprintf(stringOut, "GETPARM(%d)", VELOCITY_COMMAND_THRESHOLD_PARM_NUM);
sprintf(stringOut, "GETPARM(%d)", VelocityCommandThreshold_PARM_NUM);
status = writeRead(ssId, pVar, stringOut, reply);
if (reply[0] == '%') {
@@ -1235,13 +1242,20 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
pVar->loadingTrajectory = 1;
iGlobalIndex = GLOBALINDEXSTART;
status = writeRead(ssId, pVar, "getparm(@0,166)", reply);
sprintf(stringOut, "getparm(@0,%d)", ReverseMotionDirection_PARM_NUM);
status = writeRead(ssId, pVar, stringOut, reply);
encoder_runs_backwards = atoi(&reply[1]);
if (pVar->debugLevel > 2) printf("loadTrajectory: encoder_runs_backwards=%d\n", encoder_runs_backwards);
sprintf(stringOut, "getparm(@0,%d)", HomePositionSet_PARM_NUM);
status = writeRead(ssId, pVar, stringOut, reply);
home_position_set = atof(&reply[1]);
if (pVar->debugLevel > 2) printf("loadTrajectory: home_position_set=%f\n", home_position_set);
status = writeIntAndCheck(ssId, pVar, pvtWaitMSVar, 50);
/* There may be a position offset in place. If so, scope data will need to be corrected. */
/* This code doesn't seem to get at the difference between scope positions and commanded positions. */
for (j=0; j<MAX_AXES; j++) {
sprintf(stringOut, "pfbkprog(@%d)", j);
status = writeRead(ssId, pVar, stringOut, reply);