From 27d849ea23bdfa9b26a8cd4af4deb70b6d7d11e8 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Tue, 15 May 2007 12:47:58 +1000
Subject: [PATCH] multichan becomes AsyncQueue and AsyncProtocol

r1963 | dcl | 2007-05-15 12:47:58 +1000 (Tue, 15 May 2007) | 2 lines
---
 .../config/motors/motor_configuration.tcl     | 161 ++++++------------
 1 file changed, 52 insertions(+), 109 deletions(-)

diff --git a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
index 88e0e96a..0d2b5c55 100644
--- a/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.13 $
-# $Date: 2007-05-10 06:12:25 $
+# $Revision: 1.14 $
+# $Date: 2007-05-15 02:47:58 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $
 
 # START MOTOR CONFIGURATION
 
@@ -14,22 +14,22 @@ if {$sim_mode == "true"} {
 }
 
 # Setup addresses of Galil DMC2280 controllers.
-set dmc2280_controller1(host) mc1-$animal
-set dmc2280_controller1(port) pmc1-$animal
+set controller1(host) mc1-$animal
+set controller1(port) pmc1-$animal
 
-set dmc2280_controller2(host) mc2-$animal
-set dmc2280_controller2(port) pmc2-$animal
+set controller2(host) mc2-$animal
+set controller2(port) pmc2-$animal
 
-set dmc2280_controller3(host) mc3-$animal
-set dmc2280_controller3(port) pmc3-$animal
+set controller3(host) mc3-$animal
+set controller3(port) pmc3-$animal
 
-set dmc2280_controller4(host) mc4-$animal
-set dmc2280_controller4(port) pmc4-$animal
+set controller4(host) mc4-$animal
+set controller4(port) pmc4-$animal
 
-MakeMultiChan mc1 $dmc2280_controller1(host) $dmc2280_controller1(port)
-MakeMultiChan mc2 $dmc2280_controller2(host) $dmc2280_controller2(port)
-MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
-MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)
+MakeAsyncQueue mc1 DMC2280 $controller1(host) $controller1(port)
+MakeAsyncQueue mc2 DMC2280 $controller2(host) $controller2(port)
+MakeAsyncQueue mc3 DMC2280 $controller3(host) $controller3(port)
+MakeAsyncQueue mc4 DMC2280 $controller4(host) $controller4(port)
 
 #Measured absolute encoder reading at home position
 
@@ -50,7 +50,9 @@ set dz_home 7805000
 #Measured or computed step rate for sz (Sample Raise)
 #set szStepRate -116500
 set szStepRate -125000
-set szCountRate [expr -(8192.0/5.0/0.932)]
+#set szCountRate [expr -(8192.0/5.0/0.932)]
+# 8192 count encoder, 5mm/Turn screw, 14:15 gearing?
+set szCountRate [expr -(8192.0/5.0/(14.0/15.0))]
 
 #Measured or computed slit motor steps per millimetre
 # 2mm per turn pitch,
@@ -151,9 +153,7 @@ set move_count 100
 
 # Beam Shade Vertical Translation (6mm/T double helix, 500mm)
 Motor bz $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis A\
   units mm\
   hardlowerlim 0\
@@ -173,9 +173,7 @@ bz home 0
 
 # Collimator Table Horizontal Translation, X
 Motor c1ht $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis B\
   units mm\
   hardlowerlim 0\
@@ -195,9 +193,7 @@ c1ht home 0
 
 # Collimator Tilt, Z axis, positive is down
 Motor m1ro $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis C\
   units degrees\
   hardlowerlim -3.5\
@@ -217,9 +213,7 @@ m1ro home 0
 
 # Beam Attenuator (16mm/turn, 200mm travel)
 Motor bat $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis D\
   units mm\
   hardlowerlim 0\
@@ -239,9 +233,7 @@ bat home 0
 
 # Slit 3 Tower Translation (1mm/T, +/- 100mm)
 Motor st3vt $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis E\
   units mm\
   hardlowerlim 0\
@@ -261,9 +253,7 @@ st3vt home 0
 
 # Slit 4 Tower Translation (1mm/T, +/- 100mm)
 Motor st4vt $motor_driver_type [params \
-  multichan mc1\
-  host $dmc2280_controller1(host)\
-  port $dmc2280_controller1(port)\
+  asyncqueue mc1\
   axis F\
   units mm\
   hardlowerlim 0\
@@ -291,9 +281,7 @@ st4vt home 0
 
 # Sample Tilt 1, upper (1 degree/turn)
 Motor sth $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis A\
   units degrees\
   hardlowerlim -15\
@@ -302,6 +290,7 @@ Motor sth $motor_driver_type [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX 25000\
+  backlash_offset -0.25\
   absEnc 1\
   absEncHome $sth_home\
   cntsPerX 8192]
@@ -313,9 +302,7 @@ sth precision 0.01
 
 # Sample Tilt 2, lower (1 degree/turn)
 Motor sphi $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis B\
   units degrees\
   hardlowerlim -5\
@@ -335,9 +322,7 @@ sphi precision 0.01
 
 # Sample Translation, Linear X (5mm/T, 0-750mm)
 Motor sx $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis C\
   units mm\
   hardlowerlim 0\
@@ -357,9 +342,7 @@ sx home 0
 
 # Sample Translation, Linear Y
 #Motor sy $motor_driver_type [params \
-#  multichan mc2\
-#  host $dmc2280_controller2(host)\
-#  port $dmc2280_controller2(port)\
+#  asyncqueue mc2\
 #  axis D\
 #  units mm\
 #  hardlowerlim -600\
@@ -379,9 +362,7 @@ sx home 0
 
 # Sample Translation, Linear Z (??/T, 300mm)
 Motor sz $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis E\
   units mm\
   hardlowerlim 0\
@@ -390,6 +371,8 @@ Motor sz $motor_driver_type [params \
   maxAccel 1\
   maxDecel 1\
   stepsPerX $szStepRate\
+  backlash_offset -1\
+  creep_offset 0.01\
   absEnc 1\
   absEncHome $sz_home\
   cntsPerX $szCountRate]
@@ -403,9 +386,7 @@ sth precision 0.001
 
 # Detector Translation, Linear Y (Not Motorized)
 #Motor dy $motor_driver_type [params \
-#  multichan mc2\
-#  host $dmc2280_controller2(host)\
-#  port $dmc2280_controller2(port)\
+#  asyncqueue mc2\
 #  axis F\
 #  units mm\
 #  hardlowerlim -595\
@@ -423,9 +404,7 @@ sth precision 0.001
 
 # Detector Translation, Linear Z (5mm/T gearing unknown)
 Motor dz $motor_driver_type [params \
-  multichan mc2\
-  host $dmc2280_controller2(host)\
-  port $dmc2280_controller2(port)\
+  asyncqueue mc2\
   axis G\
   units mm\
   hardlowerlim 0\
@@ -452,9 +431,7 @@ dz home 0
 
 # Slit 1, left
 Motor ss1l $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis A\
   units mm\
   hardlowerlim $ss1l_LoRange\
@@ -472,9 +449,7 @@ ss1l home 0
 
 # Slit 1, right
 Motor ss1r $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis B\
   units mm\
   hardlowerlim $ss1r_LoRange\
@@ -492,9 +467,7 @@ ss1r home 0
 
 # Slit 1, upper
 Motor ss1u $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis C\
   units mm\
   hardlowerlim $ss1u_LoRange\
@@ -512,9 +485,7 @@ ss1u home 0
 
 # Slit 1, lower
 Motor ss1d $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis D\
   units mm\
   hardlowerlim $ss1d_LoRange\
@@ -532,9 +503,7 @@ ss1d home 0
 
 # Slit 2, left
 Motor ss2l $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis E\
   units mm\
   hardlowerlim $ss2l_LoRange\
@@ -552,9 +521,7 @@ ss2l home 0
 
 # Slit 2, right
 Motor ss2r $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis F\
   units mm\
   hardlowerlim $ss2r_LoRange\
@@ -572,9 +539,7 @@ ss2r home 0
 
 # Slit 2, upper
 Motor ss2u $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis G\
   units mm\
   hardlowerlim $ss2u_LoRange\
@@ -592,9 +557,7 @@ ss2u home 0
 
 # Slit 2, lower
 Motor ss2d $motor_driver_type [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
+  asyncqueue mc3\
   axis H\
   units mm\
   hardlowerlim $ss2d_LoRange\
@@ -619,9 +582,7 @@ ss2d home 0
 
 # Slit 3, lower
 Motor ss3d $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis A\
   units mm\
   hardlowerlim $ss3d_LoRange\
@@ -639,9 +600,7 @@ ss3d home 0
 
 # Slit 3, upper
 Motor ss3u $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis B\
   units mm\
   hardlowerlim $ss3u_LoRange\
@@ -659,9 +618,7 @@ ss3u home 0
 
 # Slit 3, Left
 Motor ss3l $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis C\
   units mm\
   hardlowerlim $ss3l_LoRange\
@@ -679,9 +636,7 @@ ss3l home 0
 
 # Slit 3, right
 Motor ss3r $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis D\
   units mm\
   hardlowerlim $ss3r_LoRange\
@@ -699,9 +654,7 @@ ss3r home 0
 
 # Slit 4, lower
 Motor ss4d $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis E\
   units mm\
   hardlowerlim $ss4d_LoRange\
@@ -719,9 +672,7 @@ ss4d home 0
 
 # Slit 4, upper
 Motor ss4u $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis F\
   units mm\
   hardlowerlim $ss4u_LoRange\
@@ -739,9 +690,7 @@ ss4u home 0
 
 # Slit 4, left
 Motor ss4l $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis G\
   units mm\
   hardlowerlim $ss4l_LoRange\
@@ -759,9 +708,7 @@ ss4l home 0
 
 # Slit 4, right
 Motor ss4r $motor_driver_type [params \
-  multichan mc4\
-  host $dmc2280_controller4(host)\
-  port $dmc2280_controller4(port)\
+  asyncqueue mc4\
   axis H\
   units mm\
   hardlowerlim $ss4r_LoRange\
@@ -779,9 +726,7 @@ ss4r home 0
 
 ## Polarization Analyzer Vertical Translation, Z
 #Motor anzvt $motor_driver_type [params \
-#  multichan mc2\
-#  host $dmc2280_controller2(host)\
-#  port $dmc2280_controller2(port)\
+#  asyncqueue mc2\
 #  axis xxxx\
 #  units mm\
 #  maxSpeed 1\
@@ -801,9 +746,7 @@ ss4r home 0
 
 ## Polarization Analyzer Rotation
 #Motor anro $motor_driver_type [params \
-#  multichan mc2\
-#  host $dmc2280_controller2(host)\
-#  port $dmc2280_controller2(port)\
+#  asyncqueue mc2\
 #  axis xxxx\
 #  units mm\
 #  hardlowerlim -10\