forked from epics_driver_modules/motorBase
Keenan Lang
62 lines
1.3 KiB
Lua
62 lines
1.3 KiB
Lua
MovingPollPeriod = 0.25
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lastPos = 0
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targetPos = 0
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function move(position, relative, minVel, maxVel, accel)
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local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
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if (relative) then
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local prev = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
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targetPos = prev + (position * MRES)
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else
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targetPos = (position * MRES)
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end
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epics.put(DRIVE_PV, targetPos)
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if (position > 0) then
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 1)
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else
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DIRECTION", 0)
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end
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asyn.callParamCallbacks(DRIVER, AXIS)
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end
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function poll()
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local curr = epics.get(READBACK_PV)
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local MRES = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_REC_RESOLUTION")
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asyn.setDoubleParam( DRIVER, AXIS, "MOTOR_POSITION", curr / MRES)
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local done = 0
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local moving = 1
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if (curr == targetPos) then
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done = 1
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moving = 0
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elseif (math.abs(curr - targetPos) <= MRES and lastPos == curr) then
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done = 1
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moving = 0
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end
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lastPos = curr
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_DONE", done)
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asyn.setIntegerParam( DRIVER, AXIS, "MOTOR_STATUS_MOVING", moving)
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asyn.callParamCallbacks(DRIVER, AXIS)
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return (done ~= 1)
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end
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function stop(acceleration)
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local curr = asyn.getDoubleParam( DRIVER, AXIS, "MOTOR_POSITION")
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epics.put(DRIVE_PV, curr)
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targetPos = curr
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end
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