Modify to reflect motion stage information in Kowari Instruction Manual
r1303 | dcl | 2006-11-21 09:20:16 +1100 (Tue, 21 Nov 2006) | 2 lines
This commit is contained in:
Douglas Clowes
@@ -30,11 +30,8 @@ Motor mom DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -12500\
|
||||
absEnc 1\
|
||||
absEncHome 17694127\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor mom -home 0 -lowrange 5 -uprange 5
|
||||
stepsPerX -12500]
|
||||
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
|
||||
mom speed 1
|
||||
mom precision 0.01
|
||||
|
||||
@@ -47,15 +44,8 @@ Motor mtth DMC2280 [params \
|
||||
maxSpeed 0.5\
|
||||
maxAccel 0.2\
|
||||
maxDecel 0.2\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 10299428\
|
||||
cntsPerX 93207]
|
||||
mtth hardlowerlim 85
|
||||
mtth hardupperlim 155
|
||||
mtth softlowerlim 85
|
||||
mtth softupperlim 155
|
||||
mtth home 120
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor mtth -home 120 -lowrange 35 -uprange 35
|
||||
mtth speed 0.5
|
||||
mtth precision 0.01
|
||||
|
||||
@@ -76,11 +66,8 @@ Motor mchi DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7818915\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor mchi -home 90 -lowrange 20 -uprange 20
|
||||
mchi speed 1
|
||||
mchi precision 0.01
|
||||
|
||||
@@ -93,16 +80,13 @@ Motor mphi DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome 7414753\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
|
||||
stepsPerX -25000]
|
||||
setHomeandRange -motor mphi -home 0 -lowrange 20 -uprange 20
|
||||
mphi speed 1
|
||||
mphi precision 0.01
|
||||
|
||||
# Monochromator Trans 1, upper
|
||||
Motor mz DMC2280 [params \
|
||||
Motor my DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis C\
|
||||
@@ -110,13 +94,10 @@ Motor mz DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7781680\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor mz -home 0 -lowrange 5 -uprange 5
|
||||
mz speed 1
|
||||
mz precision 0.01
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor my -home 0 -lowrange 5 -uprange 5
|
||||
my speed 1
|
||||
my precision 0.01
|
||||
|
||||
# Monochromator Trans 2, lower
|
||||
Motor mx DMC2280 [params \
|
||||
@@ -127,10 +108,7 @@ Motor mx DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7562793\
|
||||
cntsPerX 8192]
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
|
||||
mx speed 1
|
||||
mx precision 0.01
|
||||
@@ -144,11 +122,8 @@ Motor som DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -12500\
|
||||
absEnc 1\
|
||||
absEncHome 17694127\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor som -home 0 -lowrange 45 -uprange 45
|
||||
stepsPerX -12500]
|
||||
setHomeandRange -motor som -home 0 -lowrange 0 -uprange 360
|
||||
som speed 1
|
||||
som precision 0.01
|
||||
|
||||
@@ -161,11 +136,8 @@ Motor stth DMC2280 [params \
|
||||
maxSpeed 0.2\
|
||||
maxAccel 0.2\
|
||||
maxDecel 0.2\
|
||||
stepsPerX 125000\
|
||||
absEnc 1\
|
||||
absEncHome 6559259\
|
||||
cntsPerX 93207]
|
||||
setHomeandRange -motor stth -home 120 -lowrange 15 -uprange 15
|
||||
stepsPerX 125000]
|
||||
setHomeandRange -motor stth -home 90 -lowrange 15 -uprange 15
|
||||
stth speed 0.5
|
||||
stth precision 0.01
|
||||
|
||||
@@ -177,8 +149,8 @@ MakeConfigurableMotor sth
|
||||
sth readscript sthGet
|
||||
sth drivescript sthSet
|
||||
|
||||
# Sample Tilt 2, lower
|
||||
Motor schi DMC2280 [params \
|
||||
# Eulerian-chi
|
||||
Motor echi DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis B\
|
||||
@@ -186,16 +158,13 @@ Motor schi DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7581355\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
|
||||
schi speed 1
|
||||
schi precision 0.01
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor echi -home 0 -lowrange 0 -uprange 360
|
||||
echi speed 1
|
||||
echi precision 0.01
|
||||
|
||||
# Sample Tilt 1, upper
|
||||
Motor sphi DMC2280 [params \
|
||||
# Eulerian-phi
|
||||
Motor ephi DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis A\
|
||||
@@ -203,16 +172,13 @@ Motor sphi DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7934290\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
|
||||
sphi speed 1
|
||||
sphi precision 0.01
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor ephi -home 0 -lowrange 0 -uprange 360
|
||||
ephi speed 1
|
||||
ephi precision 0.01
|
||||
|
||||
# Sample Trans 1 (upper)
|
||||
Motor sz DMC2280 [params \
|
||||
Motor sy DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis C\
|
||||
@@ -220,13 +186,10 @@ Motor sz DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7562793\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor sz -home 0 -lowrange 5 -uprange 5
|
||||
sz speed 1
|
||||
sz precision 0.01
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor sy -home 0 -lowrange 250 -uprange 250
|
||||
sy speed 1
|
||||
sy precision 0.01
|
||||
|
||||
# Sample Trans2 (lower)
|
||||
Motor sx DMC2280 [params \
|
||||
@@ -237,64 +200,29 @@ Motor sx DMC2280 [params \
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7562793\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor sx -home 0 -lowrange 250 -uprange 250
|
||||
sx speed 1
|
||||
sx precision 0.01
|
||||
|
||||
# Sample Trans3 (vertical)
|
||||
Motor sy DMC2280 [params \
|
||||
Motor sz DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7562793\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor sy -home 0 -lowrange 500 -uprange 500
|
||||
sy speed 1
|
||||
sy precision 0.01
|
||||
|
||||
#Default upper and lower ranges for vertical slits
|
||||
set vertSlitLowRange 25
|
||||
set vertSlitUpRange 95
|
||||
|
||||
#Default upper and lower ranges for horizontal slits
|
||||
set horSlitLowRange 20
|
||||
set horSlitUpRange 25
|
||||
|
||||
Motor ss1u DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2040518]
|
||||
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
stepsPerX 25000]
|
||||
setHomeandRange -motor sz -home 0 -lowrange 0 -uprange 700
|
||||
sz speed 1
|
||||
sz precision 0.01
|
||||
|
||||
Motor ss1d DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis H\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2040518]
|
||||
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
#--------------------------------------------------------
|
||||
|
||||
Motor ss1l DMC2280 [params \
|
||||
# Primary Slit, position 0-150mm
|
||||
Motor psp DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis E\
|
||||
@@ -303,10 +231,11 @@ Motor ss1l DMC2280 [params \
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 542093]
|
||||
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
motorHome 2040518]
|
||||
setHomeandRange -motor psp -home 0 -lowrange 0 -uprange 150
|
||||
|
||||
Motor ss1r DMC2280 [params \
|
||||
# Primary Slit, width, 0-30mm
|
||||
Motor psw DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis F\
|
||||
@@ -315,34 +244,39 @@ Motor ss1r DMC2280 [params \
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 542093]
|
||||
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
motorHome 2040518]
|
||||
setHomeandRange -motor psw -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
Motor ss2u DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
# Primary Slit, height, 0-30mm
|
||||
Motor psh DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
motorHome 542093]
|
||||
setHomeandRange -motor psh -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
Motor ss2d DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
# Primary Slit, horizontal offset, 0-30mm
|
||||
Motor psho DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis H\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
motorHome 542093]
|
||||
setHomeandRange -motor psho -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
Motor ss2l DMC2280 [params \
|
||||
#--------------------------------------------------------
|
||||
|
||||
# Secondary Slit, position
|
||||
Motor ssp DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis E\
|
||||
@@ -351,10 +285,11 @@ Motor ss2l DMC2280 [params \
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
motorHome 2043085]
|
||||
setHomeandRange -motor ssp -home 0 -lowrange 0 -uprange 150
|
||||
|
||||
Motor ss2r DMC2280 [params \
|
||||
# Secondary Slit, width
|
||||
Motor ssw DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis F\
|
||||
@@ -363,185 +298,35 @@ Motor ss2r DMC2280 [params \
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
setHomeandRange -motor ssw -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
# Secondary Slit, height
|
||||
Motor ssh DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
setHomeandRange -motor ssh -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
# Secondary Slit, horizontal offset
|
||||
Motor ssho DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis H\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
setHomeandRange -motor ssho -home 0 -lowrange 0 -uprange 30
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [ss1r]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [ss1l]] + $diff/2]
|
||||
return "ss1r=$newD1R,ss1l=$newD1L"
|
||||
}
|
||||
publish ss1widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readwidth {} {
|
||||
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
}
|
||||
publish ss1readwidth user
|
||||
MakeConfigurableMotor ss1hg
|
||||
ss1hg drivescript ss1widthscript
|
||||
ss1hg readscript ss1readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1horoffsetscript {val} {
|
||||
set SR [SplitReply [ss1r]]
|
||||
set SL [SplitReply [ss1l]]
|
||||
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1R [expr $SR + $diff]
|
||||
set newD1L [expr $SL - $diff]
|
||||
return "ss1r=$newD1R,ss1l=$newD1L"
|
||||
}
|
||||
publish ss1horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readhoroffset {} {
|
||||
set SR [SplitReply [ss1r]]
|
||||
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
|
||||
}
|
||||
publish ss1readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss1ho
|
||||
ss1ho drivescript ss1horoffsetscript
|
||||
ss1ho readscript ss1readhoroffset
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc ss1heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [ss1d]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [ss1u]] + $diff/2]
|
||||
return "ss1d=$newD1B,ss1u=$newD1T"
|
||||
}
|
||||
publish ss1heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readheight {} {
|
||||
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
}
|
||||
publish ss1readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vg
|
||||
ss1vg drivescript ss1heightscript
|
||||
ss1vg readscript ss1readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1vertoffsetscript {val} {
|
||||
set SU [SplitReply [ss1u]]
|
||||
set SD [SplitReply [ss1d]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "ss1u=$newD1U,ss1d=$newD1D"
|
||||
}
|
||||
publish ss1vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readvertoffset {} {
|
||||
set SU [SplitReply [ss1u]]
|
||||
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
|
||||
}
|
||||
publish ss1readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vo
|
||||
ss1vo drivescript ss1vertoffsetscript
|
||||
ss1vo readscript ss1readvertoffset
|
||||
###############################################
|
||||
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [ss2r]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [ss2l]] + $diff/2]
|
||||
return "ss2r=$newD1R,ss2l=$newD1L"
|
||||
}
|
||||
publish ss2widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readwidth {} {
|
||||
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
||||
}
|
||||
publish ss2readwidth user
|
||||
MakeConfigurableMotor ss2hg
|
||||
ss2hg drivescript ss2widthscript
|
||||
ss2hg readscript ss2readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2horoffsetscript {val} {
|
||||
set SR [SplitReply [ss2r]]
|
||||
set SL [SplitReply [ss2l]]
|
||||
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1R [expr $SR + $diff]
|
||||
set newD1L [expr $SL - $diff]
|
||||
return "ss2r=$newD1R,ss2l=$newD1L"
|
||||
}
|
||||
publish ss2horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readhoroffset {} {
|
||||
set SR [SplitReply [ss2r]]
|
||||
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
|
||||
}
|
||||
publish ss2readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss2ho
|
||||
ss2ho drivescript ss2horoffsetscript
|
||||
ss2ho readscript ss2readhoroffset
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc ss2heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [ss2d]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [ss2u]] + $diff/2]
|
||||
return "ss2d=$newD1B,ss2u=$newD1T"
|
||||
}
|
||||
publish ss2heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readheight {} {
|
||||
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
||||
}
|
||||
publish ss2readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss2vg
|
||||
ss2vg drivescript ss2heightscript
|
||||
ss2vg readscript ss2readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2vertoffsetscript {val} {
|
||||
set SU [SplitReply [ss2u]]
|
||||
set SD [SplitReply [ss2d]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
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
|
||||
|
||||
# END MOTOR CONFIGURATION
|
||||
|
||||
Reference in New Issue
Block a user