forked from epics_driver_modules/motorBase
MarkRivers
83 lines
3.1 KiB
Plaintext
83 lines
3.1 KiB
Plaintext
# This database implements a generic 2-D coordinate transformation. Given two
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# real motors (P)(MX) and (P)(MY), which move in the X,Y coordinate system,
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# it will move two soft motors (P)(MXP) and (P)(MYP) in the X',Y'
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# coordinate system. The offset between the two coordinate systems is
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# X0 = (P)(MXP)C1 and Y0 = (P)(MYP)C1, and the coordinate systems are
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# rotated by angle theta = (P)(MYP)C2.
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# These two records are where the soft motors write their output.
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# They are needed because writing to a transform record field does not
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# cause the record to process?
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# We use forward links to the transform record (rather than making the INPA and
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# INPB fields of the transform record CP) so that the scan record waits
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# for the motors to move.
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grecord(ao,"$(P)$(MXP)DVAL") {
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field(FLNK, "$(P)$(T)Drive")
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}
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grecord(ao,"$(P)$(MYP)DVAL") {
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field(FLNK, "$(P)$(T)Drive")
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}
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# This record is processed whenever the soft motor records XP or YP write
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# new values to the DVAL records above.
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# Note: the INPA and INPB fields get their values directly from the .DVAL
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# fields of the soft motor records, rather than from the DVAL record above.
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# This is because the .DVAL fields are always correct, while the DVAL records
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# do not get updated when the soft motor .DVAL fields are modified in SET mode.
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grecord(transform,"$(P)$(T)Drive") {
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field(INPA,"$(P)$(MXP).DVAL NPP NMS")
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field(INPB,"$(P)$(MYP).DVAL NPP NMS")
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field(INPC,"$(P)$(MXP)C1.VAL NPP NMS")
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field(INPD,"$(P)$(MYP)C1.VAL NPP NMS")
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field(INPE,"$(P)$(MYP)C2.VAL NPP NMS")
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field(CLCF,"0.0174533 * E")
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field(CLCG,"C+A*COS(F)-B*SIN(F)")
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field(OUTG,"$(P)$(XDRV) PP MS")
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field(CLCH,"D+A*SIN(F)+B*COS(F)")
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field(OUTH,"$(P)$(YDRV) PP MS")
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field(PREC,"$(PREC)")
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}
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# This record is processed to set the origin of the XP, YP coordinate system
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# to be the current position of the motors.
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grecord(transform,"$(P)$(T)synch") {
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field(INPA,"$(P)$(XDRV) NPP NMS")
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field(INPB,"$(P)$(YDRV) NPP NMS")
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field(CLCC,"A")
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field(OUTC,"$(P)$(MXP)C1.VAL PP MS")
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field(CLCD,"B")
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field(OUTD,"$(P)$(MYP)C1.VAL PP MS")
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field(PREC,"$(PREC)")
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}
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# This record calculates the readback positions of the soft motors. It
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# processes whenever the readbacks of the real motors change, or whenever
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# one of the the geometry constants changes.
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grecord(transform,"$(P)$(T)Readback") {
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field(INPA,"$(P)$(XRBV) CP MS")
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field(INPB,"$(P)$(YRBV) CP MS")
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field(INPC,"$(P)$(MXP)C1.VAL CP MS")
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field(INPD,"$(P)$(MYP)C1.VAL CP MS")
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field(INPE,"$(P)$(MYP)C2.VAL CP MS")
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field(CLCF,"0.0174533 * E")
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field(CLCG,"(B-D)*SIN(F)+(A-C)*COS(F)")
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field(CLCH,"(B-D)*COS(F)-(A-C)*SIN(F)")
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field(PREC,"$(PREC)")
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}
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# This record processes if either of the sof motor STOP fields is set.
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grecord(dfanout,"$(P)$(T)Stop") {
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field(VAL,"1")
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field(OUTA,"$(P)$(XSTOP) PP MS")
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field(OUTB,"$(P)$(YSTOP) PP MS")
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}
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# This record computes whether the compound motor is done moving.
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# It goes to 1 when both real motors are done moving.
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# positions of the real motors.
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grecord(calcout,"$(P)$(T)Done") {
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field(INPA,"$(P)$(XDONE) CP MS")
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field(INPB,"$(P)$(YDONE) CP MS")
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field(CALC,"A & B")
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}
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