3129f5cbcc
converted on 1/29/2014
2014-01-29 18:54:11 +00:00
c82d32c099
For two motors
2014-01-29 18:25:04 +00:00
1c03d052da
For one motor
2014-01-29 18:24:50 +00:00
813385af8b
Show motor-start positions, PV to control accel/decel handling, deleted XPS file name
2014-01-29 18:24:22 +00:00
52ec125feb
Significant changes to support adding accel/decel segments to trajectory, post motor-start positions after build, forbid hybrid mode (not supported), in TIME_MODE_TOTAL, timeTrajectory had extra point at end, buildTrajectory was using npulses instead of npoints, don't change MAXv's update freq at run time
2014-01-29 18:20:58 +00:00
5a402fd3f1
Added motor-start PVs, and a PV by which user can choose whether or not software should add accel/decel trajectory segments. Added evflag to moveMode, so we can forbid hybrid mode, which is not supported (yet?) for Ensemble or MAXv.
2014-01-29 18:12:04 +00:00
90f3f1ea0d
Added PV by which user can choose whether or not software should add accel/decel trajectory segments.
2014-01-29 18:09:23 +00:00
5521940fbc
Added motor-start position PVs, and a PV by which user can choose whether or not software should add accel/decel trajectory segments.
2014-01-29 18:08:57 +00:00
519fdd266b
changed max axes to 10, changed debug output, always check limits, (MAXnet) fixed reading of long strings
2014-01-20 12:58:11 +00:00
f407631e15
fixed firmware version check, introduced processing delay
2014-01-17 14:36:17 +00:00
0d999027c2
Protect against NULL *parms pointer motor record.
2013-12-20 16:41:07 +00:00
57c3afb8be
Protect against dereferencing null pointer, was crashing on Linux
2013-12-20 05:10:10 +00:00
f16799219c
Bug fix: it was passing a const char* pointer to epicsStrtok_r, which is incorrect and crashes on some systems
2013-12-20 05:06:47 +00:00
4fbb739871
Removed kludge soft trigger
2013-12-18 22:53:53 +00:00
397d3da10a
Kludge soft trigger
2013-12-18 22:30:17 +00:00
fcfbc92bab
Print error if unable to create trajectory file; changed waitMotors to use GroupStatusGet, because pAxis->poll won't ever get response back, it did not issue command for profileMove
2013-12-10 17:30:08 +00:00
f8c804c45d
Made shutdown be void
2013-12-10 17:28:50 +00:00
a5948c10d1
some typos
2013-12-02 19:50:04 +00:00
33c4ea599c
some typos
2013-12-02 19:47:53 +00:00
d3255670fb
Improve comparison between programmed trajectory and recorded trajectory: TRy several index-offset values, fit chisquare to parabola, use minumum.
2013-12-02 19:32:41 +00:00
21756a0b28
make PSO pulse spacing positive definite
2013-11-27 17:12:15 +00:00
f97c65de4b
Gather parameter numbers. Use ReverseMotionDirection in conversion from raw encoder to user units.
2013-11-26 16:46:31 +00:00
bdefb9329a
must use pVar in escaped code
2013-11-25 20:40:05 +00:00
3ff2e11b00
position-offset read was in wrong place in code
2013-11-25 20:38:13 +00:00
f6943e2ee1
While trajectory is executing, check at 10 Hz. (Previously checked as fast as processor would go.)
...
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.
2013-11-25 19:26:37 +00:00
9783e9fad8
Check for abort while reading scope data; default is PSO_DISTANCE_ARRAY==0; when PSO_DISTANCE_ARRAY==0, use a fixed grid of (motorlastpos-motorfirstpos)/npulses
2013-11-20 19:40:06 +00:00
36b73d317e
read position, velocity error at user specified rate
2013-11-18 16:17:23 +00:00
385f4abfe0
read position and velocity errors at user specified rate
2013-11-18 16:09:52 +00:00
104a140694
note that controller must use the same units as the motor record
2013-11-18 16:08:06 +00:00
24ae9139a9
cleanup, no change in function
2013-11-18 16:07:32 +00:00
8a99070ad6
Added bus flushing read on exit from ISR to fix "out of order transactions"; symptom "Spurious interrupts".
2013-11-15 19:44:42 +00:00
2097ad3ef7
for one motor
2013-11-15 17:10:25 +00:00
f609d4bff8
added some docs on Ensemble trajectory
2013-11-14 18:36:46 +00:00
9b342b09bf
check num global doubles; restrict nelements accordingly
2013-11-14 18:36:01 +00:00
0bf0cbd212
Modified motorUtil to also provide name of motor every time .DMOV field changes. This will allow smart clients to maintain a list of moving motors.
2013-11-13 21:43:36 +00:00
d6c90868c7
Register listMovingMotors function so non-vxWorks iocs can use it.
2013-11-13 19:36:23 +00:00
2c3036c197
Check everything sent to controller; use SCOPE commands to compare trajectory as executed with desired trajectory; fix velocity-limit bug; retry trajectory if it fails to start; make PSO generation conditional on outBitNum in range (0,15) inclusive; controller claims motors are done when they aren't, so allow for retries; was checking only bit lsbit of moving indicator, now check for nonzero; mind max velocity as configured on controller, as well as in motor record; move parameters to communicatewith AeroBasci to header file; change acknowledge from AeroBasic from "IGLOBAL(cmdVar)=0" to "IGLOBAL(cmdVar)=-(IGLOBAL(cmdVar))"; do trajectory entirely on controller, in absolute time and position; add decel points to trajectory.
2013-11-12 23:07:56 +00:00
e450e27669
Added defines to communicate with AeroBasic program on controller.
2013-11-12 22:53:22 +00:00
0eb9e5c5b8
Added LINEAR, DRIVEINFO, and data-acquisition commands; make dwell time programmable from client; use absolute position and time; added DOTRAJECTORY pseudo command, to perform trajectory entirely on controller; acknowledge by setting IGLOBAL(cmdVAR) to -(IGLOBAL(cmdVAR)), instead of zero, so client has a better idea of what happened.
2013-11-12 22:52:21 +00:00
18253335e2
Added Micronix to Makefile.
2013-11-08 16:47:36 +00:00
e2dc2ac947
Move busy before aysn, would not build on Cygwin in other order; add PI_GCS2Support
2013-11-05 20:50:57 +00:00
7a6545120d
Added .VELO, needed in some applications
2013-11-01 18:32:39 +00:00
96035c7e6e
Modified MMC-200 driver to also support the MMC-100
2013-10-31 21:44:37 +00:00
9493eed8d4
Modified MMC200Driver.cpp to clear errors if present while polling.
2013-10-29 15:46:51 +00:00
f1d6a3ced5
Fixed caByte display of MSTA field.
2013-10-22 21:20:35 +00:00
38dde6adc1
Updated MAXv limit switch true commands (LL & LH are legacy commands).
2013-10-10 18:20:17 +00:00
a1e1d298fc
Added Micronix MMC-200 examples.
2013-10-08 21:00:45 +00:00
dba34ec14c
Added ignoreLimit argument to MMC200Controller()
2013-10-08 18:25:07 +00:00
e410d7ba5c
Removed asyn.dbd and motorRecord.dbd; not needed and does not work on 3.15
2013-10-02 18:17:57 +00:00
aa6434eebf
Added scope commands
2013-09-23 17:15:52 +00:00
timmmooney