forked from epics_driver_modules/motorBase
MarkRivers
76 lines
3.0 KiB
Plaintext
76 lines
3.0 KiB
Plaintext
# This database implements a generic 2-D coordinate transformation. Given two
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# real motors $(P)$(M1DRV) and $(P)$(M1DRV), which move parallel to each other,
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# it will move two soft motors $(P)$(SUM) and $(P)$(DIFF) as the weighted
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# average and difference of the two real motors. The weighting factors are
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# as follows:
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# SUM = (( $(P)$(M1DRV) * $(P)$(SUM)C1 ) + ( $(P)$(M2DRV) * $(P)$(SUM)C2 )) /
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# ( $(P)$(SUM)C1) + $(P)$(SUM)C2 )
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# DIFF = (( $(P)$(M1DRV) - $(P)$(M2DRV) ) * ( $(P)$(DIFF)C1 )
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# Thus the SUM C1 and C2 terms are the "distances" from the center and the
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# DIFF C1 term is a units conversion, e.g. to degrees for a rotation system.
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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,"$(P)$(SUM)DVAL") {
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field(FLNK, "$(P)$(T)Drive")
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}
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grecord(ao,"$(P)$(DIFF)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 SUM or DIFF 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,"$(P)$(SUM).DVAL NPP NMS")
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field(INPB,"$(P)$(DIFF).DVAL NPP NMS")
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field(INPC,"$(P)$(SUM)C1.VAL NPP NMS")
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field(INPD,"$(P)$(SUM)C2.VAL NPP NMS")
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field(INPE,"$(P)$(DIFF)C1.VAL NPP NMS")
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field(CLCF,"C+D")
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field(CLCG,"A+(B*D)/(E*F)")
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field(OUTG,"$(P)$(M1DRV) PP MS")
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field(CLCH,"A-(B*C)/(E*F)")
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field(OUTH,"$(P)$(M2DRV) 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)$(M1RBV) CP MS")
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field(INPB,"$(P)$(M2RBV) CP MS")
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field(INPC,"$(P)$(SUM)C1.VAL CP MS")
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field(INPD,"$(P)$(SUM)C2.VAL CP MS")
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field(INPE,"$(P)$(DIFF)C1.VAL CP MS")
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field(CLCF,"C+D")
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field(CLCG,"((A*C) + (B*D))/F")
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field(CLCH,"(A-B)*E")
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field(IVLA,"Do Nothing")
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field(PREC,"$(PREC)")
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}
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# This record processes if either of the soft 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,"$(P)$(M1STOP) PP MS")
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field(OUTB,"$(P)$(M2STOP) 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,"$(P)$(M1DONE) CP MS")
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field(INPB,"$(P)$(M2DONE) CP MS")
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field(CALC,"A & B")
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}
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