fixes in sim_uniax

cfg/sim_uniax.cfg

@@ -5,26 +5,29 @@ description = [sim] uniaxial pressure device
 [INTERFACE]
 uri=tcp://5000
 
-[drv]
-class = secop.simulation.SimDrivable
-extra_params = speed, safe_current, safe_step, maxcurrent
-description = simulated motor
-value.default = 0
-speed.readonly = False
-speed.default = 10
-interval = 0.11
-
-[transducer]
-class = secop_psi.simdpm.DPM3
-description = simulated force
-motor = drv
-
 [force]
 class = secop_psi.uniax.Uniax
 description = uniax driver
 motor = drv
 transducer = transducer
 
+[drv]
+class = secop.simulation.SimDrivable
+extra_params = speed, safe_current, move_limit, maxcurrent, tolerance
+description = simulated motor
+value.default = 0
+speed.readonly = False
+speed.default = 40
+interval = 0.11
+value.unit = deg
+tolerance.default = 0.9
+
+[transducer]
+class = secop_psi.simdpm.DPM3
+description = simulated force
+motor = drv
+value.unit = 'N'
+
 [res]
 class = secop.simulation.SimReadable
 description = raw temperature sensor on the stick
@@ -37,5 +40,5 @@ value.datatype = {"type":"double", "unit":"Ohm"}
 class=secop_psi.softcal.Sensor
 description=temperature sensor, soft calibration
 rawsensor=res
-calib = X132254.340
+calib = /home/l_samenv/frappy/secop_psi/calcurves/X132254.340
 value.unit = "K"

secop_psi/simdpm.py

@@ -22,22 +22,28 @@
 """simulated transducer DPM3 read out"""
 
 import random
+import math
 from secop.core import Readable, Parameter, FloatRange, Attached
 from secop.lib import clamp
 
 
 class DPM3(Readable):
     motor = Attached()
-    jitter = Parameter('simulated jitter', FloatRange(unit='N'), default=1, readonly=False)
+    jitter = Parameter('simulated jitter', FloatRange(unit='N'), default=0.1, readonly=False)
     hysteresis = Parameter('simulated hysteresis', FloatRange(unit='deg'), default=100, readonly=False)
-    friction = Parameter('friction', FloatRange(unit='N/deg'), default=1, readonly=False)
-    slope = Parameter('slope', FloatRange(unit='N/deg'), default=10, readonly=False)
+    friction = Parameter('friction', FloatRange(unit='N/deg'), default=2.5, readonly=False)
+    slope = Parameter('slope', FloatRange(unit='N/deg'), default=0.5, readonly=False)
     offset = Parameter('offset', FloatRange(unit='N'), default=0, readonly=False)
 
-    _pos = 0  # effective piston position, main hysteresis taken into account
+    _pos = 0
 
     def read_value(self):
         mot = self._motor
-        self._pos = clamp(self._pos, mot.value - self.hysteresis * 0.5, mot.value + self.hysteresis * 0.5)
-        return clamp(0, 1, mot.value - self._pos) * self.friction \
-               + self._pos * self.slope + self.jitter * (random.random() - random.random())
+        d = self.friction * self.slope
+        self._pos = clamp(self._pos, mot.value - d, mot.value + d)
+        f = (mot.value - self._pos) / self.slope
+        if mot.value > 0:
+            f = max(f, (mot.value - self.hysteresis) / self.slope)
+        else:
+            f = min(f, (mot.value + self.hysteresis) / self.slope)
+        return f + self.jitter * (random.random() - random.random()) * 0.5