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SICS-655 Update tasmots when driving axes.

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SICS-512 Experimental anticollider for m2, s2 and a2
This commit is contained in:
Ferdi Franceschini
2013-08-09 05:24:29 +10:00
parent 05f17515cf
commit 27f09f5a0a
1 changed files with 54 additions and 23 deletions
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77
site_ansto/instrument/tas/taipan_configuration.tcl
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@@ -33,7 +33,8 @@ fileeval $cfPath(scan)/scan.tcl
fileeval $cfPath(commands)/commands.tcl fileeval $cfPath(commands)/commands.tcl
fileeval $cfPath(commands)/pulser.tcl fileeval $cfPath(commands)/pulser.tcl
fileeval $cfPath(commands)/hvcommands.tcl fileeval $cfPath(commands)/hvcommands.tcl
fileeval $cfPath(anticollider)/anticollider.tcl namespace eval anticollider { proc ::anticollider::init {} {} }
#fileeval $cfPath(anticollider)/anticollider.tcl
#fileeval $cfPath(tasmad)/taspub_sics/tasp.tcl #fileeval $cfPath(tasmad)/taspub_sics/tasp.tcl
#fileeval $cfPath(tasmad)/taspub_sics/tasscript.tcl #fileeval $cfPath(tasmad)/taspub_sics/tasscript.tcl
fileeval $cfPath(environment)/temperature/sct_eurotherm_2000.tcl fileeval $cfPath(environment)/temperature/sct_eurotherm_2000.tcl
@@ -71,32 +72,62 @@ server_init
# WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly. # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
# Provide tasmot notifications to GumTree when real motors move # Provide tasmot notifications to GumTree when real motors move
hchain /sample/ei /instrument/crystal/m2 proc m2tasupdate {} {
hchain /sample/en /instrument/crystal/m2 tasub update
hchain /sample/ki /instrument/crystal/m2 hupdate /sample/ei
hchain /sample/qh /instrument/crystal/m2 hupdate /sample/en
hchain /sample/qk /instrument/crystal/m2 hupdate /sample/ki
hchain /sample/ql /instrument/crystal/m2 hupdate /sample/qh
hchain /sample/qm /instrument/crystal/m2 hupdate /sample/qk
hupdate /sample/ql
hupdate /sample/qm
}
publish m2tasupdate user
hchain /sample/qh /sample/s1 proc s1s2tasupdate {} {
hchain /sample/qk /sample/s1 tasub update
hchain /sample/ql /sample/s1 hupdate /sample/qh
hchain /sample/qm /sample/s1 hupdate /sample/qk
hupdate /sample/ql
hupdate /sample/qm
}
publish s1s2tasupdate user
hchain /sample/qh /sample/s2 proc a2tasupdate {} {
hchain /sample/qk /sample/s2 tasub update
hchain /sample/ql /sample/s2 hupdate /sample/ef
hchain /sample/qm /sample/s2 hupdate /sample/en
hupdate /sample/kf
hupdate /sample/qh
hupdate /sample/qk
hupdate /sample/ql
hupdate /sample/qm
}
publish a2tasupdate user
hchain /sample/ef /instrument/detector/a2 scriptcallback connect m2 MOTEND m2tasupdate
hchain /sample/en /instrument/detector/a2 scriptcallback connect s1 MOTEND s1s2tasupdate
hchain /sample/kf /instrument/detector/a2 scriptcallback connect s2 MOTEND s1s2tasupdate
hchain /sample/qh /instrument/detector/a2 scriptcallback connect a2 MOTEND a2tasupdate
hchain /sample/qk /instrument/detector/a2
hchain /sample/ql /instrument/detector/a2
hchain /sample/qm /instrument/detector/a2
set MY_INSTRUMENT_IS_BROKEN_AND_I_DIDNT_FIXIT false
if {$MY_INSTRUMENT_IS_BROKEN_AND_I_DIDNT_FIXIT} {
AntiCollisionInstall
anticollision register m2
anticollision register s2
anticollision register a2
array set tasacscript_levels {m2 0 s2 1 a2 2}
proc tasacscript {args} {
anticollision clear
array set targets $args
foreach {mot target} $args {
anticollision add $::tasacscript_levels($mot) $mot $targets($mot)
}
return
}
publish tasacscript user
anticollision script tasacscript
}
# fix all motors # fix all motors
if {0} { if {0} {
foreach m [sicslist type motor] { foreach m [sicslist type motor] {