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Adjust motor oscillation and SetRadCol command

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Count full cycles on motor oscillate
Add logging on motor oscillate
Add "motor oscillate start high/low" options
Remove SetRadCol offset because it is not needed
This commit is contained in:
Douglas Clowes
2014-07-03 12:12:52 +10:00
parent 1134aa815b
commit 81554ee0d7
2 changed files with 59 additions and 15 deletions
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5
site_ansto/instrument/hipd/config/commands/commands.tcl
View File

@ -17,8 +17,9 @@ catch {
#ffr Changed 0.5 to 0.2 on 30/06/2014 because
# oct hits upper limit switch at about 1.27 degrees
# with new "oct oscillate" command.
oct oscillate_low [expr -abs($range/2.0) - 0.2]
oct oscillate_high [expr abs($range/2.0) + 0.2]
#dcl Removed 0.2 because old osc limits it to +/-1.0
oct oscillate_low [expr -abs($range/2.0)]
oct oscillate_high [expr abs($range/2.0)]
set spd [expr 2.0*$range / $time]
oct maxretry 5

69
site_ansto/motor_dmc2280.c
View File

@ -285,6 +285,7 @@ struct __MoDriv {
bool doReportMotion; /**< flag for reporting motion when not driving */
bool doOscillate; /**< flag for motor oscillation */
bool oscillate_up; /**< next oscillation move is to high position */
bool oscillate_up_first; /**< first oscillation move is to high position */
bool oscillate_init; /**< initial move is not counted */
int oscillate_count; /**< number of moves to make or -1 for continuous */
int oscillate_counter; /**< number of moves made - half-oscillations */
@ -3284,15 +3285,9 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
switch (event->event_type) {
case eStateEvent:
/* Cancel any return address */
self->myNextState = NULL;
/* handle termination conditions (e.g. count) */
if (self->oscillate_count > 0 && self->oscillate_counter >= self->oscillate_count)
self->doOscillate = false;
if (!self->doOscillate) {
(void) report_motion(self, eReportFinal);
change_state(self, DMCState_OffTimer); /* TODO: check this is OK */
return;
}
/* Calculate our next move */
if (self->oscillate_up) {
double fHard;
if (getHardFromSoft(self, NULL, self->oscillate_high, &fHard))
@ -3304,6 +3299,49 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
self->fTarget = fHard;
self->oscillate_up = true;
}
/*
* We do not want to count the first move-to-end.
* We want to count each time we are at the same point as the first time.
* So, we remember what we were doing the first time
* And we count each time it is the same.
*/
if (self->oscillate_init) {
if (true /*self->verbose*/) {
SICSLogPrintf(eLog, "Motor=%s oscillate: first move is to %f, next is %s",
self->name,
self->fTarget,
self->oscillate_up ? "UP" : "DOWN");
}
self->oscillate_up_first = self->oscillate_up;
self->oscillate_init = false;
} else {
if (self->oscillate_up_first == self->oscillate_up ? false : true) {
self->oscillate_counter++;
}
/* handle termination conditions (e.g. count) */
if (self->oscillate_count > 0 && self->oscillate_counter >= self->oscillate_count) {
self->doOscillate = false;
} else {
if (true /*self->verbose*/) {
SICSLogPrintf(eLog, "Motor=%s oscillate: count %d move is to %f, next is %s",
self->name,
self->oscillate_counter,
self->fTarget,
self->oscillate_up ? "UP" : "DOWN");
}
}
}
/* handle termination conditions (e.g. count) */
if (!self->doOscillate) {
if (true /*self->verbose*/) {
SICSLogPrintf(eLog, "Motor=%s oscillate: stopped at count %d",
self->name,
self->oscillate_counter);
}
(void) report_motion(self, eReportFinal);
change_state(self, DMCState_OffTimer); /* TODO: check this is OK */
return;
}
/* TODO: set timer for optional pause */
/* Note: fallthrough is intentional */
case eTimerEvent:
@ -3320,9 +3358,6 @@ static void DMCState_Oscillate(pDMC2280Driv self, pEvtEvent event) {
}
/* set the next state after this move */
self->myNextState = DMCState_Oscillate;
if (!self->oscillate_init)
self->oscillate_counter++;
self->oscillate_init = false;
change_state(self, DMCState_StepMove);
return;
case eCommandEvent:
@ -5684,6 +5719,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
}
else if (strcasecmp("oscillate_counter", argv[1]) == 0) {
SCPrintf(pCon, eValue, "%s.oscillate_counter = %d", self->name, self->oscillate_counter);
return 1;
}
else if(strcasecmp("osc", argv[1]) == 0 || strcasecmp("oscillate", argv[1]) == 0) {
if (argc > 2) {
@ -5698,6 +5734,7 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
if (strcasecmp("start", argv[2]) == 0) {
float fFixed;
double fHard;
/* Check that it is OK to do this */
MotorGetPar(self->pMot, "fixed", &fFixed);
if (fFixed >= 0) {
SCPrintf(pCon, eWarning, "Motor %s is Fixed", self->name);
@ -5711,14 +5748,20 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
SCPrintf(pCon, eWarning, "Oscillate high point is in error");
return 1;
}
if (fabs(self->oscillate_high - motPosit(self)) < fabs(self->oscillate_low - motPosit(self)))
/* choose the starting end, either as told or the nearest */
if (argc > 3 && strcasecmp("high", argv[3]) == 0)
self->oscillate_up = true;
else if (argc > 3 && strcasecmp("low", argv[3]) == 0)
self->oscillate_up = false;
else if (fabs(self->oscillate_high - motPosit(self)) < fabs(self->oscillate_low - motPosit(self)))
self->oscillate_up = true;
else
self->oscillate_up = false;
/* Set up the initial conditions */
self->doOscillate = true;
self->doReportMotion = true;
self->oscillate_init = true;
self->oscillate_counter = 0;
self->oscillate_counter = -1 /* allow for move-to-start */;
state_cmd_execute(self, CMD_RUN);
return 1;
}