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using momb as rotating reference

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r3310 | jgn | 2011-12-02 14:50:07 +1100 (Fri, 02 Dec 2011) | 1 line
This commit is contained in:
Jing Chen
2011-12-02 14:50:07 +11:00
committed by Douglas Clowes
parent da1bdd2743
commit ac77e2caa7
1 changed files with 9 additions and 8 deletions
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23
site_ansto/instrument/pelican/config/commands/monodrive.tcl
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@@ -100,20 +100,21 @@ proc DriveMono {mot focus} {
# move the three motors
if {$moveFlag == 1} {
# Unlock the three motors
mra fixed -1
mrb fixed -1
mrc fixed -1
drive momb $currAngleMoma momc $currAngleMoma
drive mra [expr $mraPosition + $translateDis]
drive mrb [expr $mrbPosition + $translateDis]
drive mrc [expr $mrcPosition + $translateDis]
drive momb $currAngleMomb momc $currAngleMomc
# Lock the three motors again
mra fixed 1
mrb fixed 1
mrc fixed 1
# use momb as roating reference
drive moma $currAngleMomb momc $currAngleMomb
drive mra [expr $mraPosition + $translateDis]
drive mrb [expr $mrbPosition + $translateDis]
drive mrc [expr $mrcPosition + $translateDis]
drive moma $currAngleMoma momc $currAngleMomc
# Lock the three motors again
mra fixed -1
mrb fixed -1
mrc fixed -1
}
}