linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Make finite state machine the default. Make blocked motors fail the default. Add "data" to display computed data for motor. Improve blocked motor test message.

Browse Source 
r1962 | dcl | 2007-05-15 12:35:24 +1000 (Tue, 15 May 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-05-15 12:35:24 +10:00
parent 1eb1698d79
commit c47e4ad45c
1 changed files with 30 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
site_ansto/motor_dmc2280.c
View File

@@ -1075,8 +1075,11 @@ static int checkMotion(void *pData) {
ratio_cmp > self->blockage_ratio ||
(1.0 / ratio_cmp) > self->blockage_ratio) {
char msg[132];
snprintf(msg, sizeof(msg), "Motion check fail: obs=%f, exp=%f",
ratio_obs, ratio_exp);
float cmp = ratio_cmp;
if (fabs(cmp) > 0 && fabs(cmp) < 1)
cmp = 1.0 / cmp;
snprintf(msg, sizeof(msg), "Motor %s fail: obs=%f, exp=%f, cmp=%f",
self->name, ratio_obs, ratio_exp, cmp);
SICSLogWrite(msg, eError);
snprintf(msg, sizeof(msg), "steps=%f-%f, counts=%f-%f, exp=%f/%f",
steps, self->lastSteps, counts, self->lastCounts,
@@ -1089,8 +1092,11 @@ static int checkMotion(void *pData) {
} else {
if (self->debug) {
char msg[132];
snprintf(msg, sizeof(msg), "Motion check pass: obs=%f, exp=%f",
ratio_obs, ratio_exp);
float cmp = ratio_cmp;
if (fabs(cmp) > 0 && fabs(cmp) < 1)
cmp = 1.0 / cmp;
snprintf(msg, sizeof(msg), "Motor %s pass: obs=%f, exp=%f, cmp=%f",
self->name, ratio_obs, ratio_exp, cmp);
SICSLogWrite(msg, eError);
}
set_lastMotion(pData, steps, counts);
@@ -2957,9 +2963,9 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
pNew->KillPrivate = KillDMC2280;
pNew->GetDriverTextPar = NULL;
pNew->blockage_ckInterval = 0.5;
pNew->blockage_thresh = 0.5;
pNew->blockage_ratio = 2.0;
pNew->blockage_fail = 0;
pNew->blockage_thresh = 0.5; /* minimum distance in units */
pNew->blockage_ratio = 2.0; /* maximum ratio observed/expected */
pNew->blockage_fail = 1; /* fail the motor */
pNew->backlash_offset = 0.0;
pNew->myState = DMCState_Unknown;
@@ -2974,7 +2980,7 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
/* FSM: this driver uses the finite state machine model */
if ((pPtr=getParam(pCon, interp, params,"fsm",_OPTIONAL)) == NULL)
pNew->has_fsm=0;
pNew->has_fsm=1;
else {
sscanf(pPtr,"%d",&(pNew->has_fsm));
}
@@ -3147,7 +3153,22 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
SCWrite(pCon, rsp, eValue);
return 1;
}
if (strcasecmp("units", argv[1]) == 0) {
else if(strcasecmp("data", argv[1]) == 0) {
char line[132];
snprintf(line, 132, "%s.motor_step = %f %s", self->name,
1.0 / self->stepsPerX, self->units);
SCWrite(pCon, line, eValue);
if (self->abs_encoder) {
snprintf(line, 132, "%s.encoder_count = %f %s", self->name,
1.0 / self->cntsPerX, self->units);
SCWrite(pCon, line, eValue);
snprintf(line, 132, "%s.steps_per_count = %f steps", self->name,
self->stepsPerX / self->cntsPerX);
SCWrite(pCon, line, eValue);
}
return 1;
}
else if (strcasecmp("units", argv[1]) == 0) {
if (argc > 2) {
strncpy(self->units, argv[2], sizeof(self->units));
self->units[sizeof(self->units) - 1] = '\0';