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- Fixed a singlex death when there was no lambda. Was a problem during

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shutdown when nothing works as it should
- Made an attempt to have all error message printed on demand
- Added a tricsswap feature to sinqhttp which swaps the data right for SICS
- Edited speed for phytron driver
- First attack on adding a misalignment calculation to tasub
- Added a test protocol for scriptcontext which can be configured.


SKIPPED:
	psi/sinqhttp.c
This commit is contained in:
koennecke
2010-03-09 13:12:01 +00:00
parent 09cc25ec5b
commit 40ff36d142
13 changed files with 282 additions and 19 deletions
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11
tasub.c
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@ -347,7 +347,7 @@ int TasUBFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
status += testMotor(pNew, pCon, "a5", A5);
status += testMotor(pNew, pCon, "a6", A6);
if (status != 8) {
SCWrite(pCon, "ERROR: a required motor is mssing, tasub NOT installed",
SCWrite(pCon, "ERROR: a required motor is missing, tasub NOT installed",
eError);
return 0;
}
@ -1857,6 +1857,7 @@ int TasUBWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
ptasUB self = NULL;
char pBueffel[131];
int status, newSS;
double misalign = .0;
self = (ptasUB) pData;
assert(self != NULL);
@ -2008,6 +2009,14 @@ int TasUBWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
SCWrite(pCon, pBueffel, eValue);
return 1;
}
} else if(strcmp(argv[1],"misalign") == 0){
status = calcTasMisalignment(&self->machine, self->current,&misalign);
if(status != 1){
SCWrite(pCon,"ERROR: failed to calculate misalignment, fix UB", eError);
return 0;
}
SCPrintf(pCon,eValue,"tasub.misalign = %f", misalign );
return 1;
} else if (strcmp(argv[1], "outofplane") == 0) {
if (argc > 2) {
strtolower(argv[2]);