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Use product of the signs for cnts_per_x and steps_per_x to set the fwd and rev limit values.

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Also use floating point in the calculations.
This commit is contained in:
Ferdi Franceschini
2014-02-07 14:30:01 +11:00
parent 99b5b92565
commit 0c9df4d523
1 changed files with 33 additions and 15 deletions
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48
site_ansto/instrument/util/genmotconf.tcl
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@ -75,6 +75,31 @@ set fhe [open ${scriptname}_errors.log "w"]
# @param att attribute name
# @return value for attribute or NOATT if no attribute should be generated.
proc gen_attval {mot att} {
if {[set ::${mot}_attarr(steps_per_x)] < 0} {
set sign -1.0
} else {
set sign 1.0
}
if { [info exists ::${mot}_encatts(cnts_per_x)] } {
set cnts_per_x_val [expr double([set ::${mot}_encatts(cnts_per_x)])]
}
if { [info exists ::${mot}_encatts(rev_enc_lim)]} {
set rev_enc_lim_val [expr double([set ::${mot}_encatts(rev_enc_lim)])]
}
if { [info exists ::${mot}_encatts(fwd_enc_lim)]} {
set fwd_enc_lim_val [expr double([set ::${mot}_encatts(fwd_enc_lim)])]
}
if [info exists ::${mot}_attarr(absenchome)] {
set enc_home_val [expr double([set ::${mot}_attarr(absenchome)])]
} else {
set enc_home_val [expr double([set ::${mot}_encatts(rev_enc_lim)])]
}
if [info exists ::${mot}_attarr(home)] {
set home_val [expr double([set ::${mot}_attarr(home)])]
} else {
set home_val 0
}
switch $att {
"absenchome" {
if [info exists ::${mot}_encatts(rev_enc_lim)] {
@ -86,24 +111,17 @@ proc gen_attval {mot att} {
"maxspeed" {return 1}
"maxaccel" {return 1}
"maxdecel" {return 1}
"rev_lim" {return 0}
"rev_lim" {
if { [info exists ::${mot}_encatts(rev_enc_lim)] && [info exists ::${mot}_encatts(cnts_per_x)] } {
return [expr {$sign * ($rev_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
} else {
return 0
}
}
"home" {return 0}
"fwd_lim" {
if { [info exists ::${mot}_encatts(fwd_enc_lim)] && [info exists ::${mot}_encatts(cnts_per_x)] } {
set fwd_enc_lim_val [set ::${mot}_encatts(fwd_enc_lim)]
set cnts_per_x_val [set ::${mot}_encatts(cnts_per_x)]
if [info exists ::${mot}_encatts(rev_enc_lim)] {
set rev_enc_lim_val [set ::${mot}_encatts(rev_enc_lim)]
} else {
set rev_enc_lim_val 0
}
if [info exists ::${mot}_encatts(home)] {
set home_val [set ::${mot}_encatts(home)]
} else {
set home_val 0
}
return [expr {($fwd_enc_lim_val - $rev_enc_lim_val) / $cnts_per_x_val + $home_val}]
return [expr {$sign * ($fwd_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
} else {
return 1
}