Renamed platypus_motor_configuration.tcl to
motor_configuration.tcl r1273 | ffr | 2006-11-10 09:50:42 +1100 (Fri, 10 Nov 2006) | 3 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
5c1869993a
commit
acb8819f8e
@@ -1,5 +1,5 @@
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platypus_configuration.tcl
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platypus_motor_configuration.tcl
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motor_configuration.tcl
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chopper.tcl
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hipadaba_configuration.tcl
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InstXML.tcl
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893
site_ansto/instrument/reflectometer/motor_configuration.tcl
Normal file
893
site_ansto/instrument/reflectometer/motor_configuration.tcl
Normal file
@@ -0,0 +1,893 @@
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) mc1-platypus
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set dmc2280_controller1(port) pmc1-platypus
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set dmc2280_controller2(host) mc2-platypus
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set dmc2280_controller2(port) pmc2-platypus
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set dmc2280_controller3(host) mc3-platypus
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set dmc2280_controller3(port) pmc3-platypus
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set dmc2280_controller4(host) mc4-platypus
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set dmc2280_controller4(port) pmc4-platypus
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# MOTORS
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Motor s1up DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis A\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s1up hardlowerlim -15
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s1up hardupperlim 15
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s1up softlowerlim -15
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s1up softupperlim 15
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s1up home 0
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Motor s1lo DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis B\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s1lo hardlowerlim -15
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s1lo hardupperlim 15
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s1lo softlowerlim -15
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s1lo softupperlim 15
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s1lo home 0
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Motor s1ri DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis C\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s1ri hardlowerlim -13
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s1ri hardupperlim 27
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s1ri softlowerlim -13
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s1ri softupperlim 27
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s1ri home 0
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Motor s1le DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis D\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s1le hardlowerlim -27
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s1le hardupperlim 13
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s1le softlowerlim -27
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s1le softupperlim 13
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s1le home 0
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Motor s2up DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis E\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s2up hardlowerlim -15
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s2up hardupperlim 15
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s2up softlowerlim -15
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s2up softupperlim 15
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s2up home 0
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Motor s2lo DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s2lo hardlowerlim -15
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s2lo hardupperlim 15
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s2lo softlowerlim -15
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s2lo softupperlim 15
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s2lo home 0
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Motor s2ri DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis G\
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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 25000]
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s2ri hardlowerlim -13
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s2ri hardupperlim 27
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s2ri softlowerlim -13
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s2ri softupperlim 27
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s2ri home 0
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Motor s2le DMC2280 [params \
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis H\
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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 25000]
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s2le hardlowerlim -27
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s2le hardupperlim 13
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s2le softlowerlim -27
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s2le softupperlim 13
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s2le home 0
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Motor st3vt DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis E\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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st3vt hardlowerlim -179
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st3vt hardupperlim 21
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st3vt softlowerlim -179
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st3vt softupperlim 21
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st3vt home 0
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Motor s3up DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis A\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s3up hardlowerlim -15
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s3up hardupperlim 15
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s3up softlowerlim -15
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s3up softupperlim 15
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s3up home 0
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Motor s3lo DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis B\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s3lo hardlowerlim -15
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s3lo hardupperlim 15
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s3lo softlowerlim -15
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s3lo softupperlim 15
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s3lo home 0
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Motor s3ri DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis C\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s3ri hardlowerlim -13
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s3ri hardupperlim 27
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s3ri softlowerlim -13
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s3ri softupperlim 27
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s3ri home 0
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Motor s3le DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis D\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s3le hardlowerlim -27
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s3le hardupperlim 13
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s3le softlowerlim -27
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s3le softupperlim 13
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s3le home 0
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Motor st4vt DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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st4vt hardlowerlim -179
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st4vt hardupperlim 21
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st4vt softlowerlim -179
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st4vt softupperlim 21
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st4vt home 0
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Motor s4up DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis E\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s4up hardlowerlim -15
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s4up hardupperlim 15
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s4up softlowerlim -15
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s4up softupperlim 15
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s4up home 0
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Motor s4lo DMC2280 [params \
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s4lo hardlowerlim -15
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s4lo hardupperlim 15
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s4lo softlowerlim -15
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s4lo softupperlim 15
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s4lo home 0
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Motor s4ri DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis G\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s4ri hardlowerlim -13
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s4ri hardupperlim 27
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s4ri softlowerlim -13
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s4ri softupperlim 27
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s4ri home 0
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Motor s4le DMC2280 [params \
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host $dmc2280_controller4(host)\
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port $dmc2280_controller4(port)\
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axis H\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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s4le hardlowerlim -27
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s4le hardupperlim 13
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s4le softlowerlim -27
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s4le softupperlim 13
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s4le home 0
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#Motor c1ht DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis B\
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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 25000\
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# absEnc 1\
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# absEncHome 7500000\
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# cntsPerX 8192]
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#c1ht hardlowerlim xxxx
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#c1ht hardupperlim xxxx
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#c1ht softlowerlim xxxx
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#c1ht softupperlim xxxx
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#c1ht home 0
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Motor m1ro DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis C\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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m1ro hardlowerlim -5
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m1ro hardupperlim 5
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m1ro softlowerlim -5
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m1ro softupperlim 5
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m1ro home 0
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Motor say DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis D\
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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 25000\
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absEnc 1\
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absEncHome 7500000\
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cntsPerX 8192]
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say hardlowerlim -600
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say hardupperlim -300
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say softlowerlim -600
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say softupperlim -300
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say home -450
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#Motor sax DMC2280 [params \
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# host $dmc2280_controller2(host)\
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# port $dmc2280_controller2(port)\
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# axis C\
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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 25000\
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# absEnc 1\
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# absEncHome 7500000\
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# cntsPerX 8192]
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#sax hardlowerlim xxxx
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#sax hardupperlim 750
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#sax softlowerlim xxxx
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#sax softupperlim 750
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#sax home 0
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Motor sath DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis A\
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units mm\
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maxSpeed 1\
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||||
maxAccel 1\
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maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7500000\
|
||||
cntsPerX 8192]
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sath hardlowerlim -10
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sath hardupperlim 10
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sath softlowerlim -10
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sath softupperlim 10
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sath home 0
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Motor saphi DMC2280 [params \
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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||||
axis B\
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||||
units mm\
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||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7500000\
|
||||
cntsPerX 8192]
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||||
saphi hardlowerlim -20
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||||
saphi hardupperlim 20
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||||
saphi softlowerlim -20
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saphi softupperlim 20
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||||
saphi home 0
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||||
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#Motor anyvt DMC2280 [params \
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# host $dmc2280_controller2(host)\
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# port $dmc2280_controller2(port)\
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# axis xxxx\
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# units mm\
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# maxSpeed 1\
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# maxAccel 1\
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||||
# maxDecel 1\
|
||||
# stepsPerX 25000\
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||||
# absEnc 1\
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||||
# absEncHome 7500000\
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||||
# cntsPerX 8192]
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||||
#anyvt hardlowerlim xxxx
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||||
#anyvt hardupperlim xxxx
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||||
#anyvt softlowerlim xxxx
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||||
#anyvt softupperlim xxxx
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||||
#anyvt home 0
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||||
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#Motor anro DMC2280 [params \
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||||
# host $dmc2280_controller2(host)\
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||||
# port $dmc2280_controller2(port)\
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# axis xxxx\
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# units mm\
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||||
# maxSpeed 1\
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||||
# maxAccel 1\
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||||
# maxDecel 1\
|
||||
# stepsPerX 25000\
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||||
# absEnc 1\
|
||||
# absEncHome 7500000\
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||||
# cntsPerX 8192]
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#anro hardlowerlim -10
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#anro hardupperlim 10
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#anro softlowerlim -10
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#anro softupperlim 10
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#anro home 0
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#Motor dsyvt DMC2280 [params \
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# host $dmc2280_controller1(host)\
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||||
# port $dmc2280_controller1(port)\
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||||
# axis A\
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||||
# units mm\
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||||
# maxSpeed 1\
|
||||
# maxAccel 1\
|
||||
# maxDecel 1\
|
||||
# stepsPerX 25000\
|
||||
# absEnc 1\
|
||||
# absEncHome 7500000\
|
||||
# cntsPerX 8192]
|
||||
#dsyvt hardlowerlim xxxx
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||||
#dsyvt hardupperlim xxxx
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||||
#dsyvt softlowerlim xxxx
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||||
#dsyvt softupperlim xxxx
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||||
#dsyvt home 0
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||||
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||||
Motor deyvt DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis F\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome 7500000\
|
||||
cntsPerX 8192]
|
||||
deyvt hardlowerlim -595
|
||||
deyvt hardupperlim 800
|
||||
deyvt softlowerlim -595
|
||||
deyvt softupperlim 800
|
||||
deyvt home 0
|
||||
|
||||
#Motor dezht DMC2280 [params \
|
||||
# host $dmc2280_controllerxxxx(host)\
|
||||
# port $dmc2280_controllerxxxx(port)\
|
||||
# axis xxxx\
|
||||
# units mm\
|
||||
# maxSpeed 1\
|
||||
# maxAccel 1\
|
||||
# maxDecel 1\
|
||||
# stepsPerX 25000\
|
||||
# absEnc 1\
|
||||
# absEncHome 7500000\
|
||||
# cntsPerX 8192]
|
||||
#dezht hardlowerlim -595
|
||||
#dezht hardupperlim 800
|
||||
#dezht softlowerlim -595
|
||||
#dezht softupperlim 800
|
||||
#dezht home 0
|
||||
|
||||
#proc SplitReply { text } {
|
||||
# set l [split $text =]
|
||||
# return [lindex $l 1]
|
||||
#}
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s1widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [s1ri]] + [SplitReply [s1le]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [s1ri]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [s1le]] + $diff/2]
|
||||
return "s1ri=$newD1R,s1le=$newD1L"
|
||||
}
|
||||
publish s1widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s1readwidth {} {
|
||||
return [expr [SplitReply [s1ri]] + [SplitReply [s1le]]]
|
||||
}
|
||||
publish s1readwidth user
|
||||
MakeConfigurableMotor s1hg
|
||||
s1hg drivescript s1widthscript
|
||||
s1hg readscript s1readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s1heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [s1up]] + [SplitReply [s1lo]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [s1lo]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [s1up]] + $diff/2]
|
||||
return "s1lo=$newD1B,s1up=$newD1T"
|
||||
}
|
||||
publish s1heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s1readheight {} {
|
||||
return [expr [SplitReply [s1up]] + [SplitReply [s1lo]]]
|
||||
}
|
||||
publish s1readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor s1vg
|
||||
s1vg drivescript s1heightscript
|
||||
s1vg readscript s1readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s1horoffsetscript {val} {
|
||||
set sr [splitreply [s1ri]]
|
||||
set sl [splitreply [s1le]]
|
||||
set currentoffset [ expr $sr - ($sr + $sl)/2.0 ]
|
||||
set diff [expr $val - $currentoffset]
|
||||
set newd1r [expr $sr + $diff]
|
||||
set newd1l [expr $sl - $diff]
|
||||
return "s1ri=$newd1r,s1le=$newd1l"
|
||||
}
|
||||
publish s1horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s1readhoroffset {} {
|
||||
set sr [splitreply [s1ri]]
|
||||
return [ expr $sr - ($sr + [splitreply [s1le]])/2.0 ]
|
||||
}
|
||||
publish s1readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s1ho
|
||||
s1ho drivescript s1horoffsetscript
|
||||
s1ho readscript s1readhoroffset
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s1vertoffsetscript {val} {
|
||||
set SU [SplitReply [s1up]]
|
||||
set SD [SplitReply [s1lo]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "s1up=$newD1U,s1lo=$newD1D"
|
||||
}
|
||||
publish s1vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s1readvertoffset {} {
|
||||
set SU [SplitReply [s1up]]
|
||||
return [ expr $SU - ($SU + [SplitReply [s1lo]])/2.0 ]
|
||||
}
|
||||
publish s1readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s1vo
|
||||
s1vo drivescript s1vertoffsetscript
|
||||
s1vo readscript s1readvertoffset
|
||||
|
||||
###############################################
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s2widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [s2ri]] + [SplitReply [s2le]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [s2ri]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [s2le]] + $diff/2]
|
||||
return "s2ri=$newD1R,s2le=$newD1L"
|
||||
}
|
||||
publish s2widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s2readwidth {} {
|
||||
return [expr [SplitReply [s2ri]] + [SplitReply [s2le]]]
|
||||
}
|
||||
publish s2readwidth user
|
||||
MakeConfigurableMotor s2hg
|
||||
s2hg drivescript s2widthscript
|
||||
s2hg readscript s2readwidth
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc s2heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [s2up]] + [SplitReply [s2lo]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [s2lo]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [s2up]] + $diff/2]
|
||||
return "s2lo=$newD1B,s2up=$newD1T"
|
||||
}
|
||||
publish s2heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s2readheight {} {
|
||||
return [expr [SplitReply [s2up]] + [SplitReply [s2lo]]]
|
||||
}
|
||||
publish s2readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor s2vg
|
||||
s2vg drivescript s2heightscript
|
||||
s2vg readscript s2readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s2horoffsetscript {val} {
|
||||
set sr [splitreply [s2ri]]
|
||||
set sl [splitreply [s2le]]
|
||||
set currentoffset [ expr $sr - ($sr + $sl)/2.0 ]
|
||||
set diff [expr $val - $currentoffset]
|
||||
set newd1r [expr $sr + $diff]
|
||||
set newd1l [expr $sl - $diff]
|
||||
return "s2ri=$newd1r,s2le=$newd1l"
|
||||
}
|
||||
publish s2horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s2readhoroffset {} {
|
||||
set sr [splitreply [s2ri]]
|
||||
return [ expr $sr - ($sr + [splitreply [s2le]])/2.0 ]
|
||||
}
|
||||
publish s2readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s2ho
|
||||
s2ho drivescript s2horoffsetscript
|
||||
s2ho readscript s2readhoroffset
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s2vertoffsetscript {val} {
|
||||
set SU [SplitReply [s2up]]
|
||||
set SD [SplitReply [s2lo]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "s2up=$newD1U,s2lo=$newD1D"
|
||||
}
|
||||
publish s2vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s2readvertoffset {} {
|
||||
set SU [SplitReply [s2up]]
|
||||
return [ expr $SU - ($SU + [SplitReply [s2lo]])/2.0 ]
|
||||
}
|
||||
publish s2readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s2vo
|
||||
s2vo drivescript s2vertoffsetscript
|
||||
s2vo readscript s2readvertoffset
|
||||
|
||||
###############################################
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s3widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [s3ri]] + [SplitReply [s3le]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [s3ri]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [s3le]] + $diff/2]
|
||||
return "s3ri=$newD1R,s3le=$newD1L"
|
||||
}
|
||||
publish s3widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s3readwidth {} {
|
||||
return [expr [SplitReply [s3ri]] + [SplitReply [s3le]]]
|
||||
}
|
||||
publish s3readwidth user
|
||||
MakeConfigurableMotor s3hg
|
||||
s3hg drivescript s3widthscript
|
||||
s3hg readscript s3readwidth
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc s3heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [s3up]] + [SplitReply [s3lo]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [s3lo]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [s3up]] + $diff/2]
|
||||
return "s3lo=$newD1B,s3up=$newD1T"
|
||||
}
|
||||
publish s3heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s3readheight {} {
|
||||
return [expr [SplitReply [s3up]] + [SplitReply [s3lo]]]
|
||||
}
|
||||
publish s3readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor s3vg
|
||||
s3vg drivescript s3heightscript
|
||||
s3vg readscript s3readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s3horoffsetscript {val} {
|
||||
set sr [splitreply [s3ri]]
|
||||
set sl [splitreply [s3le]]
|
||||
set currentoffset [ expr $sr - ($sr + $sl)/2.0 ]
|
||||
set diff [expr $val - $currentoffset]
|
||||
set newd1r [expr $sr + $diff]
|
||||
set newd1l [expr $sl - $diff]
|
||||
return "s3ri=$newd1r,s3le=$newd1l"
|
||||
}
|
||||
publish s3horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s3readhoroffset {} {
|
||||
set sr [splitreply [s3ri]]
|
||||
return [ expr $sr - ($sr + [splitreply [s3le]])/2.0 ]
|
||||
}
|
||||
publish s3readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s3ho
|
||||
s3ho drivescript s3horoffsetscript
|
||||
s3ho readscript s3readhoroffset
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s3vertoffsetscript {val} {
|
||||
set SU [SplitReply [s3up]]
|
||||
set SD [SplitReply [s3lo]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "s3up=$newD1U,s3lo=$newD1D"
|
||||
}
|
||||
publish s3vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s3readvertoffset {} {
|
||||
set SU [SplitReply [s3up]]
|
||||
return [ expr $SU - ($SU + [SplitReply [s3lo]])/2.0 ]
|
||||
}
|
||||
publish s3readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s3vo
|
||||
s3vo drivescript s3vertoffsetscript
|
||||
s3vo readscript s3readvertoffset
|
||||
|
||||
###############################################
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s4widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [s4ri]] + [SplitReply [s4le]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [s4ri]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [s4le]] + $diff/2]
|
||||
return "s4ri=$newD1R,s4le=$newD1L"
|
||||
}
|
||||
publish s4widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s4readwidth {} {
|
||||
return [expr [SplitReply [s4ri]] + [SplitReply [s4le]]]
|
||||
}
|
||||
publish s4readwidth user
|
||||
MakeConfigurableMotor s4hg
|
||||
s4hg drivescript s4widthscript
|
||||
s4hg readscript s4readwidth
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc s4heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [s4up]] + [SplitReply [s4lo]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [s4lo]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [s4up]] + $diff/2]
|
||||
return "s4lo=$newD1B,s4up=$newD1T"
|
||||
}
|
||||
publish s4heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s4readheight {} {
|
||||
return [expr [SplitReply [s4up]] + [SplitReply [s4lo]]]
|
||||
}
|
||||
publish s4readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor s4vg
|
||||
s4vg drivescript s4heightscript
|
||||
s4vg readscript s4readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s4horoffsetscript {val} {
|
||||
set sr [splitreply [s4ri]]
|
||||
set sl [splitreply [s4le]]
|
||||
set currentoffset [ expr $sr - ($sr + $sl)/2.0 ]
|
||||
set diff [expr $val - $currentoffset]
|
||||
set newd1r [expr $sr + $diff]
|
||||
set newd1l [expr $sl - $diff]
|
||||
return "s4ri=$newd1r,s4le=$newd1l"
|
||||
}
|
||||
publish s4horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s4readhoroffset {} {
|
||||
set sr [splitreply [s4ri]]
|
||||
return [ expr $sr - ($sr + [splitreply [s4le]])/2.0 ]
|
||||
}
|
||||
publish s4readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s4ho
|
||||
s4ho drivescript s4horoffsetscript
|
||||
s4ho readscript s4readhoroffset
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc s4vertoffsetscript {val} {
|
||||
set SU [SplitReply [s4up]]
|
||||
set SD [SplitReply [s4lo]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "s4up=$newD1U,s4lo=$newD1D"
|
||||
}
|
||||
publish s4vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc s4readvertoffset {} {
|
||||
set SU [SplitReply [s4up]]
|
||||
return [ expr $SU - ($SU + [SplitReply [s4lo]])/2.0 ]
|
||||
}
|
||||
publish s4readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor s4vo
|
||||
s4vo drivescript s4vertoffsetscript
|
||||
s4vo readscript s4readvertoffset
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
# $Revision: 1.4 $
|
||||
# $Date: 2006-11-09 06:10:37 $
|
||||
# $Revision: 1.5 $
|
||||
# $Date: 2006-11-09 22:50:42 $
|
||||
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
|
||||
# Last revision by: $Author: ffr $
|
||||
|
||||
@@ -35,6 +35,6 @@ MakeChopper chopperController tcpdocho [params \
|
||||
]
|
||||
|
||||
|
||||
fileeval platypus_motor_configuration.tcl
|
||||
fileeval motor_configuration.tcl
|
||||
fileeval gen_hipadaba.tcl
|
||||
fileeval extraconfig.tcl
|
||||
|
||||
Reference in New Issue
Block a user