Map range to +/-180 and limit step motion for A-axis

r3362 | dcl | 2012-01-30 14:21:31 +1100 (Mon, 30 Jan 2012) | 1 line

site_ansto/instrument/config/environment/sct_cybaman.tcl

@@ -198,7 +198,15 @@ namespace eval ::scobj::cybaman {
       sct geterror "Error - catch: $catch_message"
       return idle
     }
-    set data [expr {round($data * 0.1) * 0.001}]
+    set channel [string toupper [string range [basename [sct]] end-1 end]]
+    if { "$channel" == "GA" } {
+      set data [expr {round($data * 0.1) * 0.001}]
+      if { $data > 180.0 } {
+        set data [expr $data - 360.0]
+      }
+    } else {
+      set data [expr {round($data * 0.1) * 0.001}]
+    }
     if {$data != [sct oldval]} {
       sct oldval $data
       sct update $data
@@ -337,7 +345,29 @@ namespace eval ::scobj::cybaman {
   proc wrAngle {tc_root nextState cmd} {
     debug_log "wrAngle root=$tc_root sct=[sct] cmd=$cmd target=[sct target]"
     set par "[sct target]"
-    set data "[expr {round(10000 * [sct target])}]"
+    set channel [string toupper [string range [basename [sct]] end-1 end]]
+    if { "$channel" == "GA" } {
+      # and move by maximum 90 degree steps
+      set here [hval [pathname [sct]]/act_pos_GA]
+      if { $par > $here } {
+        if { ($par - $here) > 90.0 } {
+          set par [expr $here + 90.0]
+        }
+      } elseif { $par < $here } {
+        if { ($par - $here) < -90.0 } {
+          set par [expr $here - 90.0]
+        }
+      }
+      sct print "Setting GA to $par (was [sct target])"
+      # change [-180,180] to [0,360]
+      if { $par < 0 } {
+        set data "[expr {round(10000 * ( 360.0 + $par ))}]"
+      } else {
+        set data "[expr {round(10000 * $par)}]"
+      }
+    } else {
+      set data "[expr {round(10000 * $par)}]"
+    }
     set target [chkTarget "$par"]
     if {"$target" == ""} {
       return -code error "Invalid value: \"$par\""
@@ -691,7 +721,7 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
         set catch_status [catch {
           set new_state "[lindex $current_state 1]"
           set current_state "[lindex $current_state 0]"
-          if { "[sct]" == "$tc_root/device_state" } {
+          if { "[basename [sct]]" == "device_state" } {
             if {"$new_state" != "[sct oldval]" } {
               set old_state "[sct oldval]"
               sct oldval "$new_state"
@@ -736,6 +766,11 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
           if { "$current_state" == 6 } {
             # still moving
           } elseif { "$current_state" == 1 } {
+            # has become idle
+            if { [hgetpropval $tc_root/display/set_pos_GA target] != [hval $tc_root/display/set_pos_GA] } {
+              sct print "we should take another bite"
+            #  hset $tc_root/Display/set_pos_GA [hgetpropval /display/set_pos_GA target]
+            #}
             if { [hval $tc_root/display/act_pos_GA] == [hval $tc_root/display/set_pos_GA] &&
               [hval $tc_root/display/act_pos_GB] == [hval $tc_root/display/set_pos_GB] &&
               [hval $tc_root/display/act_pos_GC] == [hval $tc_root/display/set_pos_GC] } {
@@ -972,7 +1007,7 @@ debug_log "Creating node $nodeName"
     hsetprop $scobj_hpath/$setNodeName checklimits ${ns}::$chkLimits $scobj_hpath
     hsetprop $scobj_hpath/$setNodeName checkstatus ${ns}::$chkStatus $scobj_hpath
     hsetprop $scobj_hpath/$setNodeName halt ${ns}::$doHalt $scobj_hpath
-    ::scobj::hinitprops $name $axis [basename $setNodeName]
+    ::scobj::hinitprops $name/$axis [basename $setNodeName]
     if {[SplitReply [environment_simulation]]=="false"} {
       ansto_makesctdrive $axis $scobj_hpath/$setNodeName $scobj_hpath/$getNodeName $sct_controller
     }
@@ -1001,7 +1036,7 @@ debug_log "Creating node $nodeName"
         Display  opmode          0 0 0 int   user     {opmode}          {rdValue}      {}                 {}         {}\
         Display  prognumber      1 0 0 int   user     {mainProgNumber}  {rdValue}      {}                 {}         {}\
         Display  reset           1 1 0 int   user     {visin_ctrlR}     {rdValue}      {visin_ctrlR}      {wrValue}  {}\
-        Display  set_pos_GA       1 1 0 float user     {p101}            {rdAngle}      {p101}             {wrAngle}  {0:360}\
+        Display  set_pos_GA       1 1 0 float user     {p101}            {rdAngle}      {p101}             {wrAngle}  {-180:180}\
         Display  set_pos_GB       1 1 0 float user     {p102}            {rdAngle}      {p102}             {wrAngle}  {-180:180}\
         Display  set_pos_GC       1 1 0 float user     {p103}            {rdAngle}      {p103}             {wrAngle}  {-180:180}\
         Display  feed_rate       1 1 0 int   user     {p104}            {rdValue}      {p104}             {wrValue}  {0:99999}\