init config for kookaburra

r3441 | jgn | 2012-03-05 15:14:55 +1100 (Mon, 05 Mar 2012) | 1 line

site_ansto/instrument/kookaburra/config/commands/monodrive.tcl

@@ -0,0 +1,122 @@
+ 
+# Drive the 3 Monochromator blades as a "bunch" 
+#
+# Author: Jing Chen, jgn@ansto.gov.au
+# 
+# Date: 11/11/2011
+
+# get a specified parameter value of a motor
+proc getSetting {mot field} {
+
+   switch $field {
+     "position" {
+	     set tmpStr1 [$mot]
+	     set tmpStr2 [split $tmpStr1 "="]
+	     array set tmpstr3 $tmpStr2
+	     set ind "$mot "
+	     return $tmpstr3($ind)
+     }
+     "softlowerlim" {
+	     set tmpStr1 [$mot softlowerlim]
+	     set tmpStr2 [split $tmpStr1 "="]
+	     array set tmpstr3 $tmpStr2
+	     set ind "$mot.softlowerlim "
+	     return $tmpstr3($ind)
+     }
+     "softupperlim" {
+             set tmpStr1 [$mot softupperlim]
+             set tmpStr2 [split $tmpStr1 "="]
+             array set tmpstr3 $tmpStr2
+             set ind "$mot.softupperlim "
+             return $tmpstr3($ind)
+     }
+   }
+}
+
+
+# DriveMono: drive the 3 Monochromators to translate as a "bunch"
+proc DriveMono {mot focus} {
+	variable currAngleMoma
+        variable currAngleMomb
+        variable currAngleMomc
+
+	variable mraPosition
+        variable mraSoftlowerlim
+        variable mraSoftupperlim
+	variable mrbPosition
+        variable mrbSoftlowerlim
+        variable mrbSoftupperlim
+	variable mrcPosition
+        variable mrcSoftlowerlim
+        variable mrcSoftupperlim
+
+	variable translateDis
+
+	variable moveFlag
+
+	# set moveFlag to 1 to move the three motors
+	set moveFlag 1
+
+        # Record current angle positions of the three motors
+        set currAngleMoma [getSetting moma position]
+        set currAngleMomb [getSetting momb position]
+        set currAngleMomc [getSetting momc position]
+
+	# Get current focus positions of the three motors mra, mrb and mrc
+	set mraPosition [getSetting mra position]
+	set mrbPosition [getSetting mrb position]
+	set mrcPosition [getSetting mrc position]
+
+	# Get soft lower/upper limits of mra, mrb and mrc
+        set mraSoftlowerlim [getSetting mra softlowerlim]
+	set mraSoftupperlim [getSetting mra softupperlim]
+	set mrbSoftlowerlim [getSetting mrb softlowerlim]
+	set mrbSoftupperlim [getSetting mrb softupperlim]
+	set mrcSoftlowerlim [getSetting mrc softlowerlim]
+	set mrcSoftupperlim [getSetting mrc softupperlim]
+
+	# Calculate moving distance
+	set translateDis [expr $focus - [getSetting $mot position]]
+
+	# Determine if the movement is within the ranges of the three motors
+	if {[expr $mraPosition + $translateDis] > $mraSoftupperlim || 
+	    [expr $mraPosition + $translateDis] < $mraSoftlowerlim} { 
+	   broadcast "Error: the movement is out of the range limit of motor mra"
+	   set moveFlag 0
+	}
+
+        if {[expr $mrbPosition + $translateDis] > $mrbSoftupperlim || 
+	    [expr $mrbPosition + $translateDis] < $mrbSoftlowerlim} {
+           broadcast "Error: the movement is out of the range limit of motor mrb"
+           set moveFlag 0
+        }
+
+        if {[expr $mrcPosition + $translateDis] > $mrcSoftupperlim || 
+	    [expr $mrcPosition + $translateDis] < $mrcSoftlowerlim} {
+           broadcast "Error: the movement is out of the range limit of motor mrc"
+           set moveFlag 0
+        }
+
+	# move the three motors 
+	if {$moveFlag == 1} {
+		# Unlock the three motors
+	        mra fixed -1
+	        mrb fixed -1
+	        mrc fixed -1
+
+		drive moma $currAngleMomb momc $currAngleMomb
+	        drive mra [expr $mraPosition + $translateDis] mrb [expr $mrbPosition + $translateDis] mrc [expr $mrcPosition + $translateDis]
+        	drive moma $currAngleMoma momc $currAngleMomc
+
+		# Lock the three motors again
+	        mra fixed 1
+        	mrb fixed 1
+	        mrc fixed 1
+	}
+}
+
+
+
+publish DriveMono user
+
+