Make the slits cartesian and do a little cleaning up
r1781 | dcl | 2007-04-02 15:00:20 +1000 (Mon, 02 Apr 2007) | 2 lines
This commit is contained in:
Douglas Clowes
@@ -1,7 +1,7 @@
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# $Revision: 1.11 $
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# $Date: 2007-04-01 02:24:16 $
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# $Revision: 1.12 $
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# $Date: 2007-04-02 05:00:20 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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# Last revision by: $Author: dcl $
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# START MOTOR CONFIGURATION
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@@ -60,27 +60,39 @@ set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
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set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
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#Default upper and lower ranges for vertical slits
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set vertSlitLowRange 25
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set vertSlitUpRange 100
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set vSlitHome 0
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set vSlitLoRange 20
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set vSlitHiRange 100
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#Default upper and lower ranges for horizontal slits
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set horSlitLowRange 25
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set horSlitUpRange 25
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set hSlitHome 0
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set hSlitLoRange 15
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set hSlitHiRange 35
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# set movecount high to reduce the frequency of
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#calculate individual slit motor low ranges
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set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
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set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
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set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
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set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
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set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
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set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
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set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
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set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
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#calculate individual slit motor high ranges
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set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
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set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
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set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
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set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
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set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
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set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
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set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
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set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
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# set movecount high to reduce the frequency of
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# hnotify messages to a reasonable level
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set move_count 100
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# Run slit homing routines on controllers 3 and 4
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#if [catch {dmc_connect dmc2280_controller3} ] {
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# dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
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# dmc_close dmc2280_controller3
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#}
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#if [catch {dmc_connect dmc2280_controller4} ] {
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# dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
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# dmc_close dmc2280_controller4
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#}
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############################
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# Motor Controller 1
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# Motor Controller 1
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@@ -463,14 +475,16 @@ Motor ss1r DMC2280 [params \
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port $dmc2280_controller3(port)\
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axis E\
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units mm\
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hardlowerlim -15\
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hardupperlim 35\
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hardlowerlim $ss1r_LoRange\
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hardupperlim $ss1r_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1r_Home]
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setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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ss1r softlowerlim $ss1r_LoRange
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ss1r softupperlim $ss1r_HiRange
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ss1r home 0
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ss1r movecount $move_count
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ss1r part filter
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ss1r long_name right
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@@ -482,14 +496,16 @@ Motor ss1l DMC2280 [params \
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port $dmc2280_controller3(port)\
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axis F\
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units mm\
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hardlowerlim -15\
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hardupperlim 35\
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hardlowerlim $ss1l_LoRange\
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hardupperlim $ss1l_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1l_Home]
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setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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ss1l softlowerlim $ss1l_LoRange
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ss1l softupperlim $ss1l_HiRange
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ss1l home 0
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ss1l movecount $move_count
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ss1l part filter
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ss1l long_name left
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@@ -501,14 +517,16 @@ Motor ss1u DMC2280 [params \
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port $dmc2280_controller3(port)\
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axis G\
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units mm\
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hardlowerlim -20\
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hardupperlim 100\
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hardlowerlim $ss1u_LoRange\
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hardupperlim $ss1u_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1u_Home]
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setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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ss1u softlowerlim $ss1u_LoRange
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ss1u softupperlim $ss1u_HiRange
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ss1u home 0
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ss1u movecount $move_count
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ss1u part filter
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ss1u long_name top
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@@ -520,14 +538,16 @@ Motor ss1d DMC2280 [params \
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port $dmc2280_controller3(port)\
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axis H\
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units mm\
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hardlowerlim -20\
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hardupperlim 100\
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hardlowerlim $ss1d_LoRange\
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hardupperlim $ss1d_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1d_Home]
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setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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ss1d softlowerlim $ss1d_LoRange
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ss1d softupperlim $ss1d_HiRange
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ss1d home 0
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ss1d movecount $move_count
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ss1d part filter
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ss1d long_name bottom
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@@ -578,14 +598,16 @@ Motor ss2r DMC2280 [params \
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port $dmc2280_controller4(port)\
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axis E\
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units mm\
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hardlowerlim -15\
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hardupperlim 35\
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hardlowerlim $ss2r_LoRange\
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hardupperlim $ss2r_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2r_Home]
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setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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ss2r softlowerlim $ss2r_LoRange
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ss2r softupperlim $ss2r_HiRange
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ss2r home 0
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ss2r movecount $move_count
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ss2r part filter
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ss2r long_name right
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@@ -597,14 +619,16 @@ Motor ss2l DMC2280 [params \
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port $dmc2280_controller4(port)\
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axis F\
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units mm\
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hardlowerlim -15\
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hardupperlim 35\
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hardlowerlim $ss2l_LoRange\
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hardupperlim $ss2l_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2l_Home]
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setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
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ss2l softlowerlim $ss2l_LoRange
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ss2l softupperlim $ss2l_HiRange
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ss2l home 0
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ss2l movecount $move_count
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ss2l part filter
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ss2l long_name left
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@@ -616,14 +640,16 @@ Motor ss2u DMC2280 [params \
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port $dmc2280_controller4(port)\
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axis G\
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units mm\
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hardlowerlim -20\
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hardupperlim 100\
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hardlowerlim $ss2u_LoRange\
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hardupperlim $ss2u_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2u_Home]
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setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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ss2u softlowerlim $ss2u_LoRange
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ss2u softupperlim $ss2u_HiRange
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ss2u home 0
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ss2u movecount $move_count
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ss2u part filter
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ss2u long_name top
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@@ -635,14 +661,16 @@ Motor ss2d DMC2280 [params \
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port $dmc2280_controller4(port)\
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axis H\
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units mm\
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hardlowerlim -20\
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hardupperlim 100\
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hardlowerlim $ss2d_LoRange\
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hardupperlim $ss2d_HiRange\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2d_Home]
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setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
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ss2d softlowerlim $ss2d_LoRange
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ss2d softupperlim $ss2d_HiRange
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ss2d home 0
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ss2d movecount $move_count
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ss2d part filter
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ss2d long_name bottom
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@@ -663,182 +691,59 @@ MakeConfigurableMotor sth
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sth readscript sthGet
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sth drivescript sthSet
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#--------------------------------------------------------
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proc ss1widthscript {val} {
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set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
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proc get_gap_width {m1 m2} {
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return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
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}
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proc set_gap_width {m1 m2 val} {
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set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
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set diff [expr $val - $currentWidth]
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set newD1R [expr [SplitReply [ss1r]] + $diff/2]
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set newD1L [expr [SplitReply [ss1l]] + $diff/2]
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return "ss1r=$newD1R,ss1l=$newD1L"
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set newD1R [expr [SplitReply [$m1]] + $diff/2]
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set newD1L [expr [SplitReply [$m2]] - $diff/2]
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return "$m1=$newD1R,$m2=$newD1L"
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}
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publish ss1widthscript user
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#-------------------------------------------------------
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proc ss1readwidth {} {
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return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
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proc get_gap_offset {m1 m2} {
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set S1 [SplitReply [$m1]]
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set S2 [SplitReply [$m2]]
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return [ expr ($S1 + $S2)/2.0 ]
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}
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publish ss1readwidth user
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MakeConfigurableMotor ss1hg
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ss1hg drivescript ss1widthscript
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ss1hg readscript ss1readwidth
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#--------------------------------------------------------
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proc ss1horoffsetscript {val} {
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set SR [SplitReply [ss1r]]
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set SL [SplitReply [ss1l]]
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set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1R [expr $SR + $diff]
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set newD1L [expr $SL - $diff]
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return "ss1r=$newD1R,ss1l=$newD1L"
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proc set_gap_offset {m1 m2 val} {
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set S1 [SplitReply [$m1]]
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set S2 [SplitReply [$m2]]
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set currentoffset [expr ($S1 + $S2)/2.0 ]
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set diff [expr $val - $currentoffset]
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set newD1R [expr $S1 + $diff]
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set newD1L [expr $S2 + $diff]
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return "$m1=$newD1R,$m2=$newD1L"
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}
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publish ss1horoffsetscript user
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#-------------------------------------------------------
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proc ss1readhoroffset {} {
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set SR [SplitReply [ss1r]]
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return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
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# make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
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proc make_gap_motors {vm1 vm2 m1 m2} {
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eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
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set v {$var}
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eval "proc set_$vm1 {var} { set_gap_width $m1 $m2 $v }"
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MakeConfigurableMotor $vm1
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$vm1 readscript get_$vm1
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$vm1 drivescript set_$vm1
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publish get_$vm1 user
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publish set_$vm1 user
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eval "proc get_$vm2 {} { get_gap_offset $m1 $m2 }"
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set v {$var}
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eval "proc set_$vm2 {var} { set_gap_offset $m1 $m2 $v }"
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MakeConfigurableMotor $vm2
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$vm2 readscript get_$vm2
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$vm2 drivescript set_$vm2
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publish get_$vm2 user
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publish set_$vm2 user
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}
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publish ss1readhoroffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1ho
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ss1ho drivescript ss1horoffsetscript
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ss1ho readscript ss1readhoroffset
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make_gap_motors ss1vg ss1vo ss1u ss1d
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make_gap_motors ss1hg ss1ho ss1r ss1l
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#-----------------------------------------------------
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proc ss1heightscript {val} {
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set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
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set diff [expr $val - $currentWidth]
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set newD1B [expr [SplitReply [ss1d]] + $diff/2]
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set newD1T [expr [SplitReply [ss1u]] + $diff/2]
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return "ss1d=$newD1B,ss1u=$newD1T"
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}
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publish ss1heightscript user
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#-------------------------------------------------------
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proc ss1readheight {} {
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return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
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}
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publish ss1readheight user
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#---------------------------------------------------------
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MakeConfigurableMotor ss1vg
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ss1vg drivescript ss1heightscript
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ss1vg readscript ss1readheight
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#--------------------------------------------------------
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proc ss1vertoffsetscript {val} {
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set SU [SplitReply [ss1u]]
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set SD [SplitReply [ss1d]]
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set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1U [expr $SU + $diff]
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set newD1D [expr $SD - $diff]
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return "ss1u=$newD1U,ss1d=$newD1D"
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}
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publish ss1vertoffsetscript user
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#-------------------------------------------------------
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proc ss1readvertoffset {} {
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set SU [SplitReply [ss1u]]
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return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
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}
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publish ss1readvertoffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1vo
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ss1vo drivescript ss1vertoffsetscript
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ss1vo readscript ss1readvertoffset
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###############################################
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#--------------------------------------------------------
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proc ss2widthscript {val} {
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set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
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set diff [expr $val - $currentWidth]
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set newD1R [expr [SplitReply [ss2r]] + $diff/2]
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set newD1L [expr [SplitReply [ss2l]] + $diff/2]
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return "ss2r=$newD1R,ss2l=$newD1L"
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}
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publish ss2widthscript user
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#-------------------------------------------------------
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proc ss2readwidth {} {
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return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
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}
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publish ss2readwidth user
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MakeConfigurableMotor ss2hg
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ss2hg drivescript ss2widthscript
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ss2hg readscript ss2readwidth
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#--------------------------------------------------------
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proc ss2horoffsetscript {val} {
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set SR [SplitReply [ss2r]]
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set SL [SplitReply [ss2l]]
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set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1R [expr $SR + $diff]
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set newD1L [expr $SL - $diff]
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return "ss2r=$newD1R,ss2l=$newD1L"
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}
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publish ss2horoffsetscript user
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#-------------------------------------------------------
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proc ss2readhoroffset {} {
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set SR [SplitReply [ss2r]]
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return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
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}
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publish ss2readhoroffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss2ho
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ss2ho drivescript ss2horoffsetscript
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ss2ho readscript ss2readhoroffset
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#-----------------------------------------------------
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proc ss2heightscript {val} {
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set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
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set diff [expr $val - $currentWidth]
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set newD1B [expr [SplitReply [ss2d]] + $diff/2]
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set newD1T [expr [SplitReply [ss2u]] + $diff/2]
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return "ss2d=$newD1B,ss2u=$newD1T"
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}
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publish ss2heightscript user
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#-------------------------------------------------------
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proc ss2readheight {} {
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return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
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}
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publish ss2readheight user
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#---------------------------------------------------------
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MakeConfigurableMotor ss2vg
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ss2vg drivescript ss2heightscript
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ss2vg readscript ss2readheight
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#--------------------------------------------------------
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proc ss2vertoffsetscript {val} {
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set SU [SplitReply [ss2u]]
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set SD [SplitReply [ss2d]]
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set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1U [expr $SU + $diff]
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set newD1D [expr $SD - $diff]
|
||||
return "ss2u=$newD1U,ss2d=$newD1D"
|
||||
}
|
||||
publish ss2vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readvertoffset {} {
|
||||
set SU [SplitReply [ss2u]]
|
||||
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
|
||||
}
|
||||
publish ss2readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss2vo
|
||||
ss2vo drivescript ss2vertoffsetscript
|
||||
ss2vo readscript ss2readvertoffset
|
||||
make_gap_motors ss2vg ss2vo ss2u ss2d
|
||||
make_gap_motors ss2hg ss2ho ss2r ss2l
|
||||
|
||||
# END MOTOR CONFIGURATION
|
||||
|
||||
Reference in New Issue
Block a user