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- cirterium for "no substantial forece change" must be improved
This commit is contained in:
zolliker 2022-09-16 08:14:14 +02:00
parent befba09acc
commit 0b9e227669
1 changed files with 12 additions and 6 deletions
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18
secop_psi/uniax.py
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@ -52,6 +52,8 @@ class Uniax(PersistentMixin, Drivable):
default=0.2, persistent='auto') default=0.2, persistent='auto')
low_pos = Parameter('max. position for positive forces', FloatRange(unit='deg'), readonly=False, needscfg=False) low_pos = Parameter('max. position for positive forces', FloatRange(unit='deg'), readonly=False, needscfg=False)
high_pos = Parameter('min. position for negative forces', FloatRange(unit='deg'), readonly=False, needscfg=False) high_pos = Parameter('min. position for negative forces', FloatRange(unit='deg'), readonly=False, needscfg=False)
motor_play = Parameter('summed steps without substantial change', FloatRange(), default=0)
max_play = Parameter('max. summed steps without substantial change', FloatRange(), readonly=False, default=70)
pollinterval = 0.1 pollinterval = 0.1
fast_pollfactor = 1 fast_pollfactor = 1
@ -64,7 +66,6 @@ class Uniax(PersistentMixin, Drivable):
_action = None _action = None
_last_force = 0 _last_force = 0
_expected_step = 1 _expected_step = 1
_fail_cnt = 0
_in_cnt = 0 _in_cnt = 0
_init_action = False _init_action = False
_zero_pos_tol = None _zero_pos_tol = None
@ -248,12 +249,13 @@ class Uniax(PersistentMixin, Drivable):
if abs(target - force) < self.tolerance: if abs(target - force) < self.tolerance:
self._in_cnt += 1 self._in_cnt += 1
if self._in_cnt >= 3: if self._in_cnt >= 3:
self.motor_play = 0
self.next_action(self.within_tolerance) self.next_action(self.within_tolerance)
return return
else: else:
self._in_cnt = 0 self._in_cnt = 0
if self.init_action(): if self.init_action():
self._fail_cnt = 0 self.motor_play = 0
self.write_adjusting(True) self.write_adjusting(True)
self.status = 'BUSY', 'adjusting force' self.status = 'BUSY', 'adjusting force'
elif not self._filtered: elif not self._filtered:
@ -263,16 +265,20 @@ class Uniax(PersistentMixin, Drivable):
if self._expected_step: if self._expected_step:
# compare detected / expected step # compare detected / expected step
q = force_step / self._expected_step q = force_step / self._expected_step
mstep = self._expected_step * self.slope
if q < 0.1: if q < 0.1:
self._fail_cnt += 1 self.motor_play += mstep
elif q > 0.5: elif q > 0.5:
self._fail_cnt = max(0, self._fail_cnt - 1) if abs(self.motor_play) <= abs(mstep):
if self._fail_cnt >= 10: self.motor_play = 0
else:
self.motor_play = self.motor_play * (1 - abs(mstep / self.motor_play))
if abs(self.motor_play) >= 10:
if force < self.hysteresis: if force < self.hysteresis:
self.log.warning('adjusting failed - try to find zero pos') self.log.warning('adjusting failed - try to find zero pos')
self.set_zero_pos(target, None) self.set_zero_pos(target, None)
self.next_action(self.find) self.next_action(self.find)
elif self._fail_cnt > 20: elif abs(self.motor_play) > self.max_play:
self.stop() self.stop()
self.status = 'ERROR', 'force seems not to change substantially' self.status = 'ERROR', 'force seems not to change substantially'
self.log.error(self.status[1]) self.log.error(self.status[1])