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Added ss2? slits and set IP addresses for controllers.

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r993 | ffr | 2006-05-10 16:27:45 +1000 (Wed, 10 May 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
2006-05-10 16:27:45 +10:00
committed by Douglas Clowes
parent f6896faaad
commit 99eb416ad3
1 changed files with 142 additions and 37 deletions
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179
site_ansto/instrument/hrpd/hrpd_configuration.tcl
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@@ -1,5 +1,5 @@
# $Revision: 1.3 $ # $Revision: 1.4 $
# $Date: 2006-05-09 05:56:22 $ # $Date: 2006-05-10 06:27:45 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au) # Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $ # Last revision by: $Author: ffr $
@@ -85,16 +85,13 @@ MakeDrive
set dmc2280_controller1(host) 137.157.201.66 set dmc2280_controller1(host) 137.157.201.66
set dmc2280_controller1(port) 1034 set dmc2280_controller1(port) 1034
set dmc2280_controller2(host) localhost set dmc2280_controller2(host) 137.157.201.67
#set dmc2280_controller2(host) 137.157.201.67 1034
set dmc2280_controller2(port) 1034 set dmc2280_controller2(port) 1034
set dmc2280_controller3(host) localhost set dmc2280_controller3(host) 137.157.201.68
#set dmc2280_controller3(host) 137.157.201.67 set dmc2280_controller3(port) 1034
set dmc2280_controller3(port) 1035
#set dmc2280_controller3(port) 1034
set dmc2280_controller4(host) 137.157.201.68 set dmc2280_controller4(host) 137.157.201.69
set dmc2280_controller4(port) 1034 set dmc2280_controller4(port) 1034
#Motor mth DMC2280 [params \ #Motor mth DMC2280 [params \
@@ -423,6 +420,10 @@ ss1r home 0
# host $dmc2280_controller4(host)\ # host $dmc2280_controller4(host)\
# port $dmc2280_controller4(port)\ # port $dmc2280_controller4(port)\
# axis F?\ # axis F?\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
# stepsPerX -20000\ # stepsPerX -20000\
# motorHome 2043085] # motorHome 2043085]
#ss2u hardlowerlim 0 #ss2u hardlowerlim 0
@@ -435,6 +436,10 @@ ss1r home 0
# host $dmc2280_controller4(host)\ # host $dmc2280_controller4(host)\
# port $dmc2280_controller4(port)\ # port $dmc2280_controller4(port)\
# axis F?\ # axis F?\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
# stepsPerX -20000\ # stepsPerX -20000\
# motorHome 2043085] # motorHome 2043085]
#ss2d hardlowerlim 0 #ss2d hardlowerlim 0
@@ -447,6 +452,10 @@ ss1r home 0
# host $dmc2280_controller4(host)\ # host $dmc2280_controller4(host)\
# port $dmc2280_controller4(port)\ # port $dmc2280_controller4(port)\
# axis F?\ # axis F?\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
# stepsPerX -20000\ # stepsPerX -20000\
# motorHome 500000] # motorHome 500000]
#ss2l hardlowerlim 0 #ss2l hardlowerlim 0
@@ -459,6 +468,10 @@ ss1r home 0
# host $dmc2280_controller4(host)\ # host $dmc2280_controller4(host)\
# port $dmc2280_controller4(port)\ # port $dmc2280_controller4(port)\
# axis F?\ # axis F?\
units mm\
maxSpeed 1\
maxAccel 1\
maxDecel 1\
# stepsPerX -20000\ # stepsPerX -20000\
# motorHome 500000] # motorHome 500000]
#ss2r hardlowerlim 0 #ss2r hardlowerlim 0
@@ -472,28 +485,28 @@ proc SplitReply { text } {
set l [split $text =] set l [split $text =]
return [lindex $l 1] return [lindex $l 1]
} }
# virtual motor ss1(h)orizontal (width)
#-------------------------------------------------------- #--------------------------------------------------------
proc widthscript {val} { proc ss1widthscript {val} {
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
set diff [expr $val - $currentWidth] set diff [expr $val - $currentWidth]
set newD1R [expr [SplitReply [ss1r]] + $diff/2] set newD1R [expr [SplitReply [ss1r]] + $diff/2]
set newD1L [expr [SplitReply [ss1l]] + $diff/2] set newD1L [expr [SplitReply [ss1l]] + $diff/2]
return "ss1r=$newD1R,ss1l=$newD1L" return "ss1r=$newD1R,ss1l=$newD1L"
} }
publish widthscript user publish ss1widthscript user
#------------------------------------------------------- #-------------------------------------------------------
proc readwidth {} { proc ss1readwidth {} {
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
} }
publish readwidth user publish ss1readwidth user
MakeConfigurableMotor ss1hg MakeConfigurableMotor ss1hg
ss1hg drivescript widthscript ss1hg drivescript ss1widthscript
ss1hg readscript readwidth ss1hg readscript ss1readwidth
# virtual motor ss1(h)orizontal (offset)
#-------------------------------------------------------- #--------------------------------------------------------
proc horoffsetscript {val} { proc ss1horoffsetscript {val} {
set SR [SplitReply [ss1r]] set SR [SplitReply [ss1r]]
set SL [SplitReply [ss1l]] set SL [SplitReply [ss1l]]
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
@@ -502,42 +515,43 @@ proc horoffsetscript {val} {
set newD1L [expr $SL - $diff] set newD1L [expr $SL - $diff]
return "ss1r=$newD1R,ss1l=$newD1L" return "ss1r=$newD1R,ss1l=$newD1L"
} }
publish horoffsetscript user publish ss1horoffsetscript user
#------------------------------------------------------- #-------------------------------------------------------
proc readhoroffset {} { proc ss1readhoroffset {} {
set SR [SplitReply [ss1r]] set SR [SplitReply [ss1r]]
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
} }
publish readhoroffset user publish ss1readhoroffset user
#------------------------------------------------------- #-------------------------------------------------------
MakeConfigurableMotor ss1ho MakeConfigurableMotor ss1ho
ss1ho drivescript horoffsetscript ss1ho drivescript ss1horoffsetscript
ss1ho readscript readhoroffset ss1ho readscript ss1readhoroffset
# virtual motor ss1v(ertical), height
#----------------------------------------------------- #-----------------------------------------------------
proc heightscript {val} { proc ss1heightscript {val} {
set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]] set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
set diff [expr $val - $currentWidth] set diff [expr $val - $currentWidth]
set newD1B [expr [SplitReply [ss1d]] + $diff/2] set newD1B [expr [SplitReply [ss1d]] + $diff/2]
set newD1T [expr [SplitReply [ss1u]] + $diff/2] set newD1T [expr [SplitReply [ss1u]] + $diff/2]
return "ss1d=$newD1B,ss1u=$newD1T" return "ss1d=$newD1B,ss1u=$newD1T"
} }
publish heightscript user publish ss1heightscript user
#------------------------------------------------------- #-------------------------------------------------------
proc readheight {} { proc ss1readheight {} {
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]] return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
} }
publish readheight user publish ss1readheight user
#--------------------------------------------------------- #---------------------------------------------------------
MakeConfigurableMotor ss1vg MakeConfigurableMotor ss1vg
ss1vg drivescript heightscript ss1vg drivescript ss1heightscript
ss1vg readscript readheight ss1vg readscript ss1readheight
# virtual motor ss1(v)ertical (offset)
#-------------------------------------------------------- #--------------------------------------------------------
proc vertoffsetscript {val} { proc ss1vertoffsetscript {val} {
set SU [SplitReply [ss1u]] set SU [SplitReply [ss1u]]
set SD [SplitReply [ss1d]] set SD [SplitReply [ss1d]]
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
@@ -546,15 +560,106 @@ proc vertoffsetscript {val} {
set newD1D [expr $SD - $diff] set newD1D [expr $SD - $diff]
return "ss1u=$newD1U,ss1d=$newD1D" return "ss1u=$newD1U,ss1d=$newD1D"
} }
publish vertoffsetscript user publish ss1vertoffsetscript user
#------------------------------------------------------- #-------------------------------------------------------
proc readvertoffset {} { proc ss1readvertoffset {} {
set SU [SplitReply [ss1u]] set SU [SplitReply [ss1u]]
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ] return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
} }
publish readvertoffset user publish ss1readvertoffset user
#------------------------------------------------------- #-------------------------------------------------------
MakeConfigurableMotor ss1vo MakeConfigurableMotor ss1vo
ss1vo drivescript vertoffsetscript ss1vo drivescript ss1vertoffsetscript
ss1vo readscript readvertoffset 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