Substantially modified controller software: mainly limit switches and deceleration.
r2388 | dcl | 2008-03-07 16:12:47 +1100 (Fri, 07 Mar 2008) | 2 lines
This commit is contained in:
Douglas Clowes
@@ -1,11 +1,11 @@
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' WOMBAT - CONTROLLER 2
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'
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' $Revision: 1.5 $
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' $Date: 2008-03-05 04:25:32 $
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'
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' $Revision: 1.6 $
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' $Date: 2008-03-07 05:12:47 $
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' Author: Dan Bartlett
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' Airpad control added by Doug Clowes
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' Last revision by: $Author: dcl $
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'
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'
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' A-SAMPLE UPPER TILT
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' B-SAMPLE LOWER TILT
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' C-SAMPLE UPPER LINEAR
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@@ -48,7 +48,7 @@ HLTD=0
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HLTE=0
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HLTF=0
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HLTG=0
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' HLTH=0
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HLTH=0
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' FIRST TIME THROUGH RESET LIMIT CONTROL
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LSAHIT=0
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LSBHIT=0
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@@ -57,7 +57,7 @@ LSDHIT=0
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LSEHIT=0
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LSFHIT=0
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LSGHIT=0
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' LSHHIT=0
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LSHHIT=0
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JS #THREAD0
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EN
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'
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@@ -67,81 +67,97 @@ EN
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' MAIN THREAD
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' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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'
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JS #CHKSPD
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JS #CHKDCEL
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JS #AIRPAD
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JS #CHKSPD
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JP #THREAD0
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EN
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'
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'
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'-----------------------------------------------------------------------
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#CHKDCEL
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'ROUTINE TO CHECK DECELERATION AFTER A LIMIT HIT
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'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
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'
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IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
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IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
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IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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IF (HLTA=1)
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MOA
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HLTA=0
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ENDIF
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LSAHIT=0
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ENDIF
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IF (LSBHIT=1)&(_BGB=0)
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DCB=OLDDCB
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IF (HLTB=1)
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MOB
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HLTB=0
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IF (HLTA=1)
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HLTA=0
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ENDIF
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ENDIF
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'
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IF (_BGB=0)
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IF (LSBHIT=1)
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DCB=OLDDCB
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LSBHIT=0
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ENDIF
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IF (LSCHIT=1)&(_BGC=0)
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DCC=OLDDCC
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IF (HLTC=1)
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MOC
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HLTC=0
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IF (HLTB=1)
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HLTB=0
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ENDIF
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ENDIF
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'
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IF (_BGC=0)
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IF (LSCHIT=1)
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DCC=OLDDCC
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LSCHIT=0
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ENDIF
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IF (LSDHIT=1)&(_BGD=0)
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DCD=OLDDCD
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IF (HLTD=1)
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MOD
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HLTD=0
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IF (HLTC=1)
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HLTC=0
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ENDIF
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ENDIF
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'
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IF (_BGD=0)
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IF (LSDHIT=1)
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DCD=OLDDCD
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LSDHIT=0
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ENDIF
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IF (LSEHIT=1)&(_BGE=0)
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DCE=OLDDCE
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IF (HLTE=1)
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MOE
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HLTE=0
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IF (HLTD=1)
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HLTD=0
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ENDIF
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ENDIF
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'
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IF (_BGE=0)
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IF (LSEHIT=1)
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DCE=OLDDCE
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LSEHIT=0
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ENDIF
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IF (LSFHIT=1)&(_BGF=0)
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IF (HLTE=1)
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HLTE=0
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ENDIF
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ENDIF
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'
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IF (_BGF=0)
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IF (LSFHIT=1)
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DCF=OLDDCF
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IF (HLTF=1)
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MOF
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HLTF=0
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ENDIF;'
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LSFHIT=0
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ENDIF
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IF (LSGHIT=1)&(_BGG=0)
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DCG=OLDDCG
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IF (HLTG=1)
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MOG
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HLTG=0
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IF (HLTF=1)
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HLTF=0
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ENDIF
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ENDIF
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'
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IF (_BGG=0)
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IF (LSGHIT=1)
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DCG=OLDDCG
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LSGHIT=0
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ENDIF
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' IF (LSHHIT=1)&(_BGH=0)
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' DCH=OLDDCH
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' IF (HLTH=1)
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' MOH
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' HLTH=0
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' ENDIF
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' LSHHIT=0
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' ENDIF
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IF (HLTG=1)
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HLTG=0
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ENDIF
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ENDIF
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'
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IF (_BGH=0)
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IF (LSHHIT=1)
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DCH=OLDDCH
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LSHHIT=0
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ENDIF
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IF (HLTH=1)
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HLTH=0
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ENDIF
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ENDIF
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'
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JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
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JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
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JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
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@@ -149,45 +165,7 @@ JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
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JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
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JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
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JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
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' JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
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EN
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'
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'
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'-----------------------------------------------------------------------
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#AIRPAD
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' ROUTINE TO CONTROL THE AIRPADS
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' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
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' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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' VALVE MANUAL OVER RIDE IS NEEDED.
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'
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' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
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IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
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REQF=1
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ENDIF
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IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
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SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
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REQF=0
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ENDIF
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'
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IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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SHF;' TURN MOTOR ON
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WT500;' WAIT FOR MOTOR TO STABILISE
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SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
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CB 9;' DETECTOR AIR PAD ON-SOLENOID ON
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WT1000;
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RSPF=1
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ENDIF
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IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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SB 9;' DETECTOR AIR PAD ON-SOLENOID OFF
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CB 10;' DETECTOR AIR PAD OFF-SOLENOID ON
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WT500;
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SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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RSPF=0
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ENDIF
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JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
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EN
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'
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'
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@@ -216,9 +194,9 @@ ENDIF
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IF (_SPG>500000)
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SPG=500000
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ENDIF
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' IF (_SPH>50000)
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' SPH=50000
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' ENDIF
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IF (_SPH>50000)
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SPH=50000
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ENDIF
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EN
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'
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'
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@@ -250,7 +228,7 @@ HLTD=1
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HLTE=1
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HLTF=1
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HLTG=1
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' HLTH=1
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HLTH=1
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JS #SETDCEL
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RI
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'
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@@ -264,72 +242,134 @@ RE
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'
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'-----------------------------------------------------------------------
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#SETDCEL
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
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'
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IF (_LFA=0)|(_LRA=0)|(HLTA=1);'LIMIT HIT
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IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
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OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
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IF (_BGA=1)
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IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
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STA
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DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
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IF (LSAHIT=0)
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OLDDCA=_DCA
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DCA=100000
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LSAHIT=1
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ENDIF
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ENDIF
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IF (_LFB=0)|(_LRB=0)|(HLTB=1)
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IF (LSBHIT=0)&(_BGB=1)
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OLDDCB=_DCB
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ENDIF
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'
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IF (_BGB=1)
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IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
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STB
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IF (LSBHIT=0)
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OLDDCB=_DCB
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DCB=100000
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LSBHIT=1
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ENDIF
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ENDIF
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IF (_LFC=0)|(_LRC=0)|(HLTC=1)
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IF (LSCHIT=0)&(_BGC=1)
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OLDDCC=_DCC
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ENDIF
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'
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IF (_BGC=1)
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IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
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STC
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IF (LSCHIT=0)
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OLDDCC=_DCC
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DCC=100000
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LSCHIT=1
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ENDIF
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ENDIF
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IF (_LFD=0)|(_LRD=0)|(HLTD=1)
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IF (LSDHIT=0)&(_BGD=1)
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OLDDCD=_DCD
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ENDIF
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'
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IF (_BGD=1)
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IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
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STD
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IF (LSDHIT=0)
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OLDDCD=_DCD
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DCD=100000
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LSDHIT=1
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ENDIF
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ENDIF
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IF (_LFE=0)|(_LRE=0)|(HLTE=1)
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IF (LSEHIT=0)&(_BGE=1)
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OLDDCE=_DCE
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ENDIF
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'
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IF (_BGE=1)
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IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
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STE
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IF (LSEHIT=0)
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OLDDCE=_DCE
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DCE=100000
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LSEHIT=1
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ENDIF
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ENDIF
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IF (_LFF=0)|(_LRF=0)|(HLTF=1)
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IF (LSFHIT=0)&(_BGF=1)
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OLDDCF=_DCF
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ENDIF
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'
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IF (_BGF=1)
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IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
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STF
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IF (LSFHIT=0)
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OLDDCF=_DCF
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DCF=50000
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LSFHIT=1
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ENDIF
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ENDIF
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IF (_LFG=0)|(_LRG=0)|(HLTG=1)
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IF (LSGHIT=0)&(_BGG=1)
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OLDDCG=_DCG
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ENDIF
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'
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IF (_BGG=1)
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IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
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STG
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IF (LSGHIT=0)
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OLDDCG=_DCG
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DCG=100000
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LSGHIT=1
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ENDIF
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ENDIF
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' IF (_LFH=0)|(_LRH=0)|(HLTH=1)
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' IF (LSHHIT=0)&(_BGH=1)
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' OLDDCH=_DCH
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' STH
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' DCH=100000
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' LSHHIT=1
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' ENDIF
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' ENDIF
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ENDIF
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'
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IF (_BGH=1)
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IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
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STH
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IF (LSHHIT=0)
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OLDDCH=_DCH
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DCH=100000
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LSHHIT=1
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ENDIF
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ENDIF
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ENDIF
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'
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EN
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'
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'
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'-----------------------------------------------------------------------
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#AIRPAD
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' ROUTINE TO CONTROL THE AIRPADS
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' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
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' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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' VALVE MANUAL OVER RIDE IS NEEDED.
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'
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' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
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IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
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REQF=1
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ENDIF
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IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
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SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
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REQF=0
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ENDIF
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'
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IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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SHF;' TURN MOTOR ON
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WT500;' WAIT FOR MOTOR TO STABILISE
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SB 10;' AIR PAD OFF-SOLENOID OFF
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CB 9;' AIR PAD ON-SOLENOID ON
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WT1000;
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RSPF=1
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ENDIF
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IF (REQF=0)&(RSPF=1)&(_BGF=0);'FLIGHT TUBE MOTION FINISHED
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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SB 9;' AIR PAD ON-SOLENOID OFF
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CB 10;' AIR PAD OFF-SOLENOID ON
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WT500;
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SB 10;' AIR PAD OFF-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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RSPF=0
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ENDIF
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EN
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'
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'
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@@ -354,7 +394,7 @@ SPG=500000
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ACG=750000
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DCG=750000
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#LOOP
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PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE
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PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE
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BGG
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AMG
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PRG=-225000;' MOVE BACK DISTANCE AS PER ANGLE VALUE
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@@ -375,3 +415,6 @@ ENDIF
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JP #ACCVETO,(_XQ1<>-1)
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' JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
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EN
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'
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'
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'-----------------------------------------------------------------------
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Reference in New Issue
Block a user