initial commit

tcl/drivers/wiggle.tcl

@@ -0,0 +1,122 @@
+namespace eval wiggle {
+}
+
+proc stdConfig::wiggle {} {
+  controller syncedprot 10
+  
+  obj wiggle -drive out
+  prop checklimits wiggle::checklimits
+  prop halt wiggle::halt
+  prop write wiggle::write
+  prop status idle
+  prop read stdConfig::complete
+  kids "wiggle settings" {
+    node period par 2
+
+    node eperiod upd
+    prop label "effective period"
+
+    node amp par 0.001
+    prop label amplitude
+
+    node n par 10
+
+    node shape par 6
+    prop help "4 for saw tooth, 6 for sine-like"
+
+    node maxramp par 0.5
+
+  }
+}
+
+proc wiggle::checklimits {} {
+  return 0
+}
+
+proc wiggle::waitext {} {
+  if {[result mf external] == 2} {
+    return 0
+  }
+  if {[result mf external] != 1} {
+    mf external 1
+  }
+  return 1
+}
+
+proc wiggle::write {} {
+  sct status run
+
+  # wiggle around target [Tesla] with amplitude +- /wiggle/amp [Tesla]
+  # minimum period 2 sec
+  # number of times /wiggle/n
+  
+  sct cnt 0
+
+  sct oldramp [result mf ramp]
+  set amp [hvali [sct]/amp]
+  set period [hvali [sct]/period]
+  set maxr [hvali [sct]/maxramp]
+  set shape [hvali [sct]/shape]
+
+  if {$period < 2} {
+    set period 2
+  }
+  set ramp [expr $amp * $shape * 60.0 / $period]
+  if {$ramp > $maxr} {
+    set period [expr $period * $ramp / $maxr]
+    set ramp $maxr
+  }
+#  clientput "ramp $ramp period $period"
+  hupdate [sct]/eperiod $period
+
+  mf ramp $ramp
+  mf persmode 0
+  set mf1 [expr [sct target] + $amp]
+  run mf $mf1
+  clientput "run mf to $mf1"
+
+  [sct controller] poll [sct] [expr $period * 0.5] progress wiggle::saw
+  return idle
+}
+
+proc wiggle::saw {} {
+  if {[sct status] ne "run"} {
+    return unpoll
+  }
+  if {[wiggle::waitext]} {
+    return idle
+  }
+  set amp [hvali [sct]/amp]
+  set cnt [sct cnt]
+  sct cnt [expr $cnt + 1]
+  set maxcnt [expr 2 * [hvali [sct]/n]]
+#  clientput "cnt$cnt"
+  if {$cnt >= $maxcnt} {
+    mf external 3
+    mf ramp [sct oldramp]
+    run mf [sct target]
+    sct status idle
+    return unpoll
+  }
+  if {$cnt == 0} {
+    mf send A1
+    return idle
+  }
+  if {$cnt % 2} {
+    set f [expr [sct target] - $amp]
+  } else {
+    set f [expr [sct target] + $amp]
+  }
+clientput "mf send J[format %.5f $f]"
+  mf send J[format %.5f $f]
+  return idle
+}
+
+proc wiggle::halt {} {
+  mf external 3
+  mf ramp [sct oldramp]
+  run mf [sct target]
+  sct status idle
+  return idle
+}
+