Updated archive with code for handheld controller and eulerian omega

oscillate by Paul Barron and Warren Brown.

r3316 | ffr | 2011-12-07 15:46:18 +1100 (Wed, 07 Dec 2011) | 3 lines

site_ansto/instrument/rsd/DMC2280/controller4.txt

@@ -1,10 +1,9 @@
 NO TE: KOWARI - CONTROLLER 4
 NO TE:
-NO TE: $Revision: 1.3 $
+NO TE: $Revision: 1.2 $
-NO TE: $Name: not supported by cvs2svn $
+NO TE: $Date: 2007/09/24 01:25:23 $
-NO TE: $Date: 2008-05-30 00:26:56 $
 NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: ffr $
+NO TE: Last revision by: $Author: dbx $
 NO TE:
 NO TE: A-PRE SAMPLE COLLIMATOR X (ACROSS BEAM)
 NO TE: B-PRE SAMPLE COLLIMATOR Y (ALONG BEAM)
@@ -12,7 +11,7 @@ NO TE: C-PRE SAMPLE COLLIMATOR WIDTH
 NO TE: D-POST SAMPLE COLLIMATOR X (ACROSS BEAM)
 NO TE: E-POST SAMPLE COLLIMATOR Y (ALONG BEAM)
 NO TE: F-POST SAMPLE COLLIMATOR WIDTH
-NO TE: G-SPARE
+NO TE: G-SPARE AXIS CABLED FOR CRADLE
 NO TE: H-SPARE
 NO ----------------------------------------
 #AUTO
@@ -23,17 +22,20 @@ CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
 II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
 OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
 IA 137,157,201,198;' CONFIGURES IP ADDRESS
-AC 25000,25000,25000,25000,25000,25000,,;' SET ACELERATION
+AC 25000,25000,25000,25000,25000,25000,25000,;' SET ACELERATION
-DC 25000,25000,25000,25000,25000,25000,,;' SET DECELERATION
+DC 25000,25000,25000,25000,25000,25000,25000,;' SET DECELERATION
-SP 25000,25000,25000,25000,25000,25000,,;' SET SPEED
+SP 25000,25000,25000,25000,25000,25000,25000,;' SET SPEED
 SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
-SIG=0,25,13,0<-2>2;'NOT USED
+SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIH=0,25,13,0<-2>2;'NOT USED
+hndIP=-1986147895;'STATIC IP ADDRESS OF THE WIRELESS HANDHELD TERMINAL 
+CONNECT=0'VARIABLE TO TELL IF HANDHELD IS CONNECTED
+EOMDEG=-1;' PART OF THE SAMPLE OSCILLATION CONTROL #OSCEOM
 JS #THREAD0
 EN
 NO ----------------------------------------
@@ -58,17 +60,28 @@ ENDIF
 IF (_SPF>50000)
 SPF=50000
 ENDIF
-NO IF (_SPG>50000) AXES NOT USED, COMMENTED OUT
+IF (_SPG>50000)
-NO SPG=50000
+SPG=50000
-NO ENDIF
+ENDIF
 NO IF (_SPH>50000)
 NO SPH=50000
 NO ENDIF
+IF (_XQ1=-1);'THREAD2 NOT RUNNING
+XQ #CHKHAND,1
+ENDIF
+IF (_XQ3=-1)&(EOMDEG<>-1);'THREAD3 NOT RUNNING & EOM OSC 
+XQ #OSCEOM,3
+ENDIF
 JP #THREAD0
 EN
 NO ----------------------------------------
 #TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
+'CLOSE TCP CONNECTION, STOP AND TURN OFF MOTORS
+CONNECT=0
+IHH=>-2
+ST ABBCDEFG
+MC ABBCDEFG
+MO ABBCDEFG
 RE
 NO ----------------------------------------
 #ININT
@@ -87,7 +100,7 @@ OLDDCC=_DCC
 OLDDCD=_DCD
 OLDDCE=_DCE
 OLDDCF=_DCF
-NO OLDDCG=_DCG AXIS NOT USED
+OLDDCG=_DCG
 NO OLDDCH=_DCH AXIS NOT USED
 IF (_LFA = 0) | (_LRA = 0)
 DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
@@ -113,10 +126,10 @@ IF (_LFF = 0) | (_LRF = 0)
 DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
 STF
 ENDIF
-NO IF (_LFG = 0) | (_LRG = 0) AXES NOT USED, COMMENTED OUT
+IF (_LFG = 0) | (_LRG = 0)
-NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
-NO STG
+STG
-NO ENDIF
+ENDIF
 NO IF (_LFH = 0) | (_LRH = 0)
 NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
 NO STH
@@ -128,6 +141,93 @@ DCC=OLDDCC
 DCD=OLDDCD
 DCE=OLDDCE
 DCF=OLDDCF
-NO DCG=OLDDCG AXIS NOT USED
+DCG=OLDDCG
 NO DCH=OLDDCH AXIS NOT USED
 RE
+'-----------------------------------------------------------------------------
+#CHKHAND
+'IF THERE IS A TCP CONNECTION BETWEEN THE HANDHELD AND GALIL 
+'ON HANDLE 'A' MOVE IT TO HANDLE H
+'_IHn0=IP ADDRESS
+'_IHn2=0 (NO CONNECTION)
+'_IHn2=1 (UDP SLAVE)
+'_IHn2=2 (TCP SLAVE)
+IF((_IHA0=hndIP) & (_IHA2<>0))
+HSA=H
+ENDIF
+'
+IF((_IHB0=hndIP) & (_IHB2<>0)) 
+HSB=H
+ENDIF
+'
+IF((_IHC0=hndIP) & (_IHC2<>0)) 
+HSC=H
+ENDIF
+'
+IF((_IHD0=hndIP) & (_IHD2<>0))
+HSD=H
+ENDIF
+'
+IF((_IHE0=hndIP) & (_IHE2<>0))
+HSE=H
+ENDIF
+'
+IF((_IHF0=hndIP) & (_IHF2<>0))
+HSF=H
+ENDIF
+'
+IF((_IHG0=hndIP) & (_IHG2<>0))
+HSG=H
+ENDIF
+'
+'IF THERE IS A TCP CONNECTION BETWEEN THE HANDHELD AND GALIL 
+'ON HANDLE 'H', SEND THE HEARTBEAT MESSAGE
+IF((_IHH0=hndIP) & (_IHH2<>0))
+MG "CONNECTED" {EH}
+CONNECT=1
+WT500
+ENDIF
+'
+JP #CHKHAND
+EN
+'
+'
+'-----------------------------------------------------------------------
+#OSCEOM
+'THIS ROUTINE OSCILLATES THE SAMPLE
+'ABOUT THE STARTING POINT +- 1/2 THE VALUE IN OSCDEG IN DEGREES
+'
+IF (EOMDEG<0.1)|(EOMDEG>200)
+'OUTSIDE ALLOWABLE RANGE
+EOMDEG=-1
+JP #ENDOSC
+ENDIF
+'
+DPG=0;' REMEMBER STARTING POSITION OF SAMPLE
+SHG
+PRG=25000*EOMDEG*0.5
+'FIRST MOVE IS HALF THE TOTAL AND REMEMBER DISTANCE
+BGG
+MCG
+WT500
+#LPOSC
+PRG=-25000*EOMDEG
+BGG
+MCG
+WT500
+PRG=25000*EOMDEG
+BGG
+MCG
+WT500
+JP #LPOSC,EOMDEG<>-1
+'CONTINUE TO LOOP UNTIL OSCDEG IS SET TO -1
+'
+PAG=0;' RETURN SAMPLE TO STARTING POSITION
+BGG
+MCG
+#ENDOSC
+MOE
+EN
+'-----------------------------------------------------------------------
+
+