Added ss2? slits and set IP addresses for controllers.
r993 | ffr | 2006-05-10 16:27:45 +1000 (Wed, 10 May 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
f6896faaad
commit
99eb416ad3
@@ -1,5 +1,5 @@
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# $Revision: 1.3 $
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# $Date: 2006-05-09 05:56:22 $
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# $Revision: 1.4 $
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# $Date: 2006-05-10 06:27:45 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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@@ -85,16 +85,13 @@ MakeDrive
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set dmc2280_controller1(host) 137.157.201.66
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set dmc2280_controller1(port) 1034
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set dmc2280_controller2(host) localhost
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#set dmc2280_controller2(host) 137.157.201.67 1034
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set dmc2280_controller2(host) 137.157.201.67
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set dmc2280_controller2(port) 1034
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set dmc2280_controller3(host) localhost
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#set dmc2280_controller3(host) 137.157.201.67
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set dmc2280_controller3(port) 1035
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#set dmc2280_controller3(port) 1034
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set dmc2280_controller3(host) 137.157.201.68
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set dmc2280_controller3(port) 1034
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set dmc2280_controller4(host) 137.157.201.68
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set dmc2280_controller4(host) 137.157.201.69
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set dmc2280_controller4(port) 1034
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#Motor mth DMC2280 [params \
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@@ -423,6 +420,10 @@ ss1r home 0
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# host $dmc2280_controller4(host)\
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# port $dmc2280_controller4(port)\
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# axis F?\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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# stepsPerX -20000\
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# motorHome 2043085]
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#ss2u hardlowerlim 0
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@@ -435,6 +436,10 @@ ss1r home 0
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# host $dmc2280_controller4(host)\
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# port $dmc2280_controller4(port)\
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# axis F?\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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# stepsPerX -20000\
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# motorHome 2043085]
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#ss2d hardlowerlim 0
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@@ -447,6 +452,10 @@ ss1r home 0
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# host $dmc2280_controller4(host)\
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# port $dmc2280_controller4(port)\
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# axis F?\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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# stepsPerX -20000\
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# motorHome 500000]
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#ss2l hardlowerlim 0
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@@ -459,6 +468,10 @@ ss1r home 0
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# host $dmc2280_controller4(host)\
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# port $dmc2280_controller4(port)\
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# axis F?\
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units mm\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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# stepsPerX -20000\
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# motorHome 500000]
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#ss2r hardlowerlim 0
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@@ -472,28 +485,28 @@ proc SplitReply { text } {
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set l [split $text =]
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return [lindex $l 1]
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}
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# virtual motor ss1(h)orizontal (width)
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#--------------------------------------------------------
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proc widthscript {val} {
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proc ss1widthscript {val} {
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set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
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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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}
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publish widthscript user
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publish ss1widthscript user
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#-------------------------------------------------------
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proc readwidth {} {
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proc ss1readwidth {} {
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return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
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}
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publish readwidth user
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publish ss1readwidth user
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MakeConfigurableMotor ss1hg
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ss1hg drivescript widthscript
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ss1hg readscript readwidth
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ss1hg drivescript ss1widthscript
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ss1hg readscript ss1readwidth
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# virtual motor ss1(h)orizontal (offset)
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#--------------------------------------------------------
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proc horoffsetscript {val} {
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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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@@ -502,42 +515,43 @@ proc horoffsetscript {val} {
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set newD1L [expr $SL - $diff]
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return "ss1r=$newD1R,ss1l=$newD1L"
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}
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publish horoffsetscript user
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publish ss1horoffsetscript user
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#-------------------------------------------------------
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proc readhoroffset {} {
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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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}
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publish readhoroffset user
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publish ss1readhoroffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1ho
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ss1ho drivescript horoffsetscript
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ss1ho readscript readhoroffset
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ss1ho drivescript ss1horoffsetscript
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ss1ho readscript ss1readhoroffset
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# virtual motor ss1v(ertical), height
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#-----------------------------------------------------
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proc heightscript {val} {
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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 heightscript user
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publish ss1heightscript user
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#-------------------------------------------------------
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proc readheight {} {
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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 readheight user
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publish ss1readheight user
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#---------------------------------------------------------
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MakeConfigurableMotor ss1vg
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ss1vg drivescript heightscript
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ss1vg readscript readheight
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ss1vg drivescript ss1heightscript
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ss1vg readscript ss1readheight
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# virtual motor ss1(v)ertical (offset)
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#--------------------------------------------------------
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proc vertoffsetscript {val} {
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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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@@ -546,15 +560,106 @@ proc vertoffsetscript {val} {
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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 vertoffsetscript user
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publish ss1vertoffsetscript user
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#-------------------------------------------------------
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proc readvertoffset {} {
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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 readvertoffset user
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publish ss1readvertoffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss1vo
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ss1vo drivescript vertoffsetscript
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ss1vo readscript readvertoffset
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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 - $diff]
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return "ss2u=$newD1U,ss2d=$newD1D"
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}
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publish ss2vertoffsetscript user
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#-------------------------------------------------------
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proc ss2readvertoffset {} {
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set SU [SplitReply [ss2u]]
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return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
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}
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publish ss2readvertoffset user
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#-------------------------------------------------------
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MakeConfigurableMotor ss2vo
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ss2vo drivescript ss2vertoffsetscript
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ss2vo readscript ss2readvertoffset
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