calibrate S3 and S4, move to cartesian coordinates, add virtual slit motor constructors

r1667 | dcl | 2007-03-19 14:06:13 +1100 (Mon, 19 Mar 2007) | 2 lines

site_ansto/instrument/reflectometer/motor_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.11 $
+# $Revision: 1.12 $
-# $Date: 2007-03-15 23:20:37 $
+# $Date: 2007-03-19 03:06:13 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -54,6 +54,11 @@ set ss1v_Gap      205.9
 set ss2h_Gap       51.3
 set ss2v_Gap      203.8
 
+set ss3h_Gap        7.5
+set ss3v_Gap       28.5
+set ss4h_Gap       12.0
+set ss4v_Gap       24.0
+
 set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
 set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
 set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
@@ -63,6 +68,15 @@ set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
 set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
 set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
 
+set ss3r_Home [expr $ss3h_Gap/2*$slitStepRate]
+set ss3l_Home [expr $ss3h_Gap/2*$slitStepRate]
+set ss3u_Home [expr $ss3v_Gap/2*$slitStepRate]
+set ss3d_Home [expr $ss3v_Gap/2*$slitStepRate]
+set ss4r_Home [expr $ss4h_Gap/2*$slitStepRate]
+set ss4l_Home [expr $ss4h_Gap/2*$slitStepRate]
+set ss4u_Home [expr $ss4v_Gap/2*$slitStepRate]
+set ss4d_Home [expr $ss4v_Gap/2*$slitStepRate]
+
 #Default upper and lower ranges for vertical slits
 set vertSlitHome 0
 set vertSlitLowRange 25
@@ -345,7 +359,8 @@ Motor ss1d DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss1d_Home]
 ss1d softlowerlim -25
 ss1d softupperlim 95
 ss1d home 0
@@ -360,7 +375,8 @@ Motor ss1u DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss1u_Home]
 ss1u softlowerlim -25
 ss1u softupperlim 95
 ss1u home 0
@@ -375,7 +391,8 @@ Motor ss1l DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss1l_Home]
 ss1l softlowerlim -25
 ss1l softupperlim 25
 ss1l home 0
@@ -390,7 +407,8 @@ Motor ss1r DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss1r_Home]
 ss1r softlowerlim -25
 ss1r softupperlim 25
 ss1r home 0
@@ -405,7 +423,8 @@ Motor ss2d DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss2d_Home]
 ss2d softlowerlim -25
 ss2d softupperlim 95
 ss2d home 0
@@ -420,7 +439,8 @@ Motor ss2u DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss2u_Home]
 ss2u softlowerlim -25
 ss2u softupperlim 95
 ss2u home 0
@@ -435,7 +455,8 @@ Motor ss2l DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss2l_Home]
 ss2l softlowerlim -25
 ss2l softupperlim 25
 ss2l home 0
@@ -450,7 +471,8 @@ Motor ss2r DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss2r_Home]
 ss2r softlowerlim -25
 ss2r softupperlim 25
 ss2r home 0
@@ -465,7 +487,8 @@ Motor ss3d DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss3d_Home]
 ss3d softlowerlim -25
 ss3d softupperlim 95
 ss3d home 0
@@ -480,7 +503,8 @@ Motor ss3u DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss3u_Home]
 ss3u softlowerlim -25
 ss3u softupperlim 95
 ss3u home 0
@@ -495,7 +519,8 @@ Motor ss3l DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss3l_Home]
 ss3l softlowerlim -25
 ss3l softupperlim 25
 ss3l home 0
@@ -510,7 +535,8 @@ Motor ss3r DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss3r_Home]
 ss3r softlowerlim -25
 ss3r softupperlim 25
 ss3r home 0
@@ -525,7 +551,8 @@ Motor ss4d DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss4d_Home]
 ss4d softlowerlim -25
 ss4d softupperlim 95
 ss4d home 0
@@ -540,7 +567,8 @@ Motor ss4u DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss4u_Home]
 ss4u softlowerlim -25
 ss4u softupperlim 95
 ss4u home 0
@@ -555,7 +583,8 @@ Motor ss4l DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX $slitStepRate\
+  motorHome $ss4l_Home]
 ss4l softlowerlim -25
 ss4l softupperlim 25
 ss4l home 0
@@ -570,7 +599,8 @@ Motor ss4r DMC2280 [params \
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $slitStepRate]
+  stepsPerX -$slitStepRate\
+  motorHome $ss4r_Home]
 ss4r softlowerlim -25
 ss4r softupperlim 25
 ss4r home 0
@@ -616,6 +646,72 @@ ss4r home 0
 #     return [lindex $l 1]
 #}
 
+if {1} {
+proc get_gap_width {m1 m2} {
+  return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
+}
+
+proc set_gap_width {m1 m2 val} {
+  set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
+  set diff [expr $val - $currentWidth]
+  set newD1R [expr [SplitReply [$m1]] + $diff/2]
+  set newD1L [expr [SplitReply [$m2]] - $diff/2]
+  return "$m1=$newD1R,$m2=$newD1L"
+}
+
+proc get_gap_offset {m1 m2} {
+  set S1 [SplitReply [$m1]]
+  set S2 [SplitReply [$m2]]
+  return [ expr ($S1 + $S2)/2.0 ]
+}
+
+proc set_gap_offset {m1 m2 val} {
+  set S1 [SplitReply [$m1]]
+  set S2 [SplitReply [$m2]]
+  set currentoffset [expr ($S1 + $S2)/2.0 ]
+  set diff [expr $val - $currentoffset]
+  set newD1R [expr $S1 + $diff/2]
+  set newD1L [expr $S2 + $diff/2]
+  return "$m1=$newD1R,$m2=$newD1L"
+}
+
+# make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
+proc make_gap_motors {vm1 vm2 m1 m2} {
+  uplevel #0 "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
+  set v {$var}
+  set s "proc set_$vm1 {var} { set_gap_width $m1 $m2 $v }"
+  puts $s
+  uplevel #0 $s
+  uplevel #0 "MakeConfigurableMotor $vm1"
+  uplevel #0 "$vm1 readscript get_$vm1"
+  uplevel #0 "$vm1 drivescript set_$vm1"
+uplevel #0 "publish get_$vm1 user"
+uplevel #0 "publish set_$vm1 user"
+
+  uplevel #0 "proc get_$vm2 {} { get_gap_offset $m1 $m2 }"
+  set v {$var}
+  set s "proc set_$vm2 {var} { set_gap_offset $m1 $m2 $v }"
+  puts $s
+  uplevel #0 $s
+  uplevel #0 "MakeConfigurableMotor $vm2"
+  uplevel #0 "$vm2 readscript get_$vm2"
+  uplevel #0 "$vm2 drivescript set_$vm2"
+uplevel #0 "publish get_$vm2 user"
+uplevel #0 "publish set_$vm2 user"
+}
+
+make_gap_motors ss1vg ss1vo ss1u ss1d
+make_gap_motors ss1hg ss1ho ss1r ss1l
+
+make_gap_motors ss2vg ss2vo ss2u ss2d
+make_gap_motors ss2hg ss2ho ss2r ss2l
+
+make_gap_motors ss3vg ss3vo ss3u ss3d
+make_gap_motors ss3hg ss3ho ss3r ss3l
+
+make_gap_motors ss4vg ss4vo ss4u ss4d
+make_gap_motors ss4hg ss4ho ss4r ss4l
+} else {
 #--------------------------------------------------------
 proc ss1widthscript {val} {
   set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
@@ -839,20 +935,20 @@ ss3vg readscript ss3readheight
 
 #--------------------------------------------------------
 proc ss3horoffsetscript {val} {
-  set sr [splitreply [ss3r]]
+  set SR [SplitReply [ss3r]]
-  set sl [splitreply [ss3l]]
+  set SL [SplitReply [ss3l]]
-  set currentoffset [ expr $sr - ($sr + $sl)/2.0 ]
+  set currentoffset [ expr $SR - ($SR + $SL)/2.0 ]
   set diff [expr $val - $currentoffset]
-  set newd1r [expr $sr + $diff]
+  set newd1r [expr $SR + $diff]
-  set newd1l [expr $sl - $diff]
+  set newd1l [expr $SL - $diff]
   return "ss3r=$newd1r,ss3l=$newd1l"
 }
 publish ss3horoffsetscript user
 
 #-------------------------------------------------------
 proc ss3readhoroffset {} {
-  set sr [splitreply [ss3r]]
+  set SR [SplitReply [ss3r]]
-  return [ expr $sr - ($sr + [splitreply [ss3l]])/2.0 ]
+  return [ expr $SR - ($SR + [SplitReply [ss3l]])/2.0 ]
 }
 publish ss3readhoroffset user
 
@@ -929,20 +1025,20 @@ ss4vg readscript ss4readheight
 
 #--------------------------------------------------------
 proc ss4horoffsetscript {val} {
-  set sr [splitreply [ss4r]]
+  set SR [SplitReply [ss4r]]
-  set sl [splitreply [ss4l]]
+  set SL [SplitReply [ss4l]]
-  set currentoffset [ expr $sr - ($sr + $sl)/2.0 ]
+  set currentoffset [ expr $SR - ($SR + $SL)/2.0 ]
   set diff [expr $val - $currentoffset]
-  set newd1r [expr $sr + $diff]
+  set newd1r [expr $SR + $diff]
-  set newd1l [expr $sl - $diff]
+  set newd1l [expr $SL - $diff]
   return "ss4r=$newd1r,ss4l=$newd1l"
 }
 publish ss4horoffsetscript user
 
 #-------------------------------------------------------
 proc ss4readhoroffset {} {
-  set sr [splitreply [ss4r]]
+  set SR [SplitReply [ss4r]]
-  return [ expr $sr - ($sr + [splitreply [ss4l]])/2.0 ]
+  return [ expr $SR - ($SR + [SplitReply [ss4l]])/2.0 ]
 }
 publish ss4readhoroffset user
 
@@ -974,3 +1070,4 @@ publish ss4readvertoffset user
 MakeConfigurableMotor ss4vo
 ss4vo drivescript ss4vertoffsetscript
 ss4vo readscript ss4readvertoffset
+}