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
dbde547693
Added seq, pv to LIBS, needed to build dynamically on Windows
2013-09-20 23:19:55 +00:00
1ffbd7b481
Added notes about EnsembleTrajectoryScan
2013-09-19 22:19:32 +00:00
2d9f71dff6
AeroBasic program that must be compiled and loaded into the controller for EnsembleTrajectoryScan to work.
2013-09-19 22:18:55 +00:00
b28691a460
some cleanup, removing stuff from MAX_trajectoryScan.st (from which this was developed). Trajectory must run while it's being loaded, so user updates and abort handling have moved into loadTrajectory(). If timeMode!=TIME_MODE_TOTAL, calculate total time. Warn if time between trajectory points is less than .03 s, because we won't be able to keep up. Note this code is not ready for more than one motor. Abort handling is still under development, though pretty thorough. sendReceiveCommand() now checks that the "doCommand" program is running, and starts it if it isn't. This should only be needed for aborts.
2013-09-19 22:17:44 +00:00
7a80234f51
Add STATUS_WARNING
2013-09-19 22:08:45 +00:00
eeadbad5bf
Added limit polarity argument to MVP2001Axis
2013-09-13 15:43:19 +00:00
c7afb8d37d
Ensemble trajectory support
2013-09-12 20:51:50 +00:00
d7e6e839c4
Removed the commented-out C300Axis::report method declaration to avoid confusion.
2013-08-28 16:52:21 +00:00
1b6c89c98a
Comment out axis report() function, not defined in source which leads to error on Windows
2013-08-28 16:25:24 +00:00
01e5d2924d
Removed redefinition of asynPrint, produces compiler error on Windows
2013-08-28 16:16:45 +00:00
f088b3319d
Moved epicsExport.h to compile on Windows dynamically
2013-08-28 16:16:03 +00:00
f97d06ab0f
Removed motorVersion.h, does not exist; fixed names of 2 parameters; moved epicsExport.h to compile on Windows dynamically
2013-08-28 16:15:21 +00:00
1af1b84179
Changed abs to fabs to avoid compiler error on Windows; other changes to avoid compiler warnings on Linux
2013-08-28 16:14:12 +00:00
7c5e1b5e94
Added new MVP2001 support to motor release documentation.
2013-08-14 22:24:11 +00:00
9b2e2b346a
Added asyn, model-3 driver for the MVP2001.
2013-08-14 22:14:00 +00:00
9b3af6ab55
Updated to PI_GCS2_2013_07_12.tgz
2013-08-02 22:02:31 +00:00
99922e7d6b
Added support for rotary stages to smarAct MCS driver.
2013-07-26 21:24:53 +00:00
1409d6323f
XPSController and XPSAxis: moved some defines from the source file to the header file in XPSController. Added support for reading the XPS positioner status string in XPSAxis, and adding it to the parameter library.
2013-07-18 19:59:06 +00:00
timmmooney