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revert "driving" and update ROTATE

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r3103 | dcl | 2011-04-14 17:33:18 +1000 (Thu, 14 Apr 2011) | 1 line
This commit is contained in:
Douglas Clowes
2011-04-14 17:33:18 +10:00
parent 4ae629c08e
commit c8d5ead3cc
1 changed files with 12 additions and 6 deletions
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18
site_ansto/instrument/config/robots/sct_pickandplace.tcl
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@@ -42,6 +42,10 @@ debug_log "setNam new data for $tc_root [sct] result=$data"
proc setRot {tc_root nextState cmd} {
set data [string toupper [sct target]]
if {$data < 0 || $data > 100} {
sct geterror "Rotation speed must be between 0 and 100, not $data"
return idle
}
if {$data != [sct oldval]} {
sct oldval $data
sct update $data
@@ -49,7 +53,7 @@ debug_log "setNam new data for $tc_root [sct] result=$data"
debug_log "setRot new data for $tc_root [sct] result=$data"
if {$data > 0} {
hset $tc_root/status "busy"
sct send "ROTATE $data -1"
sct send "ROTATE $data"
} else {
sct send "STOPROT"
}
@@ -79,8 +83,11 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
proc setPoint {tc_root nextState cmd} {
set catch_status [ catch {
debug_log "setPoint $tc_root $nextState $cmd sct=[sct]"
debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus] driving=[sct driving]"
sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus] driving=[sct driving]"
if {[sct driving] == 0} {
sct driving 1
}
set err_msg ""
if { [hval $tc_root/Control/Pallet_Nam] != "A" && [hval $tc_root/Control/Pallet_Nam] != "B" } {
set err_msg "Invalid Pallet_ Num: [hval $tc_root/Control/Pallet_Nam]"
@@ -142,7 +149,6 @@ debug_log "sct send $cmd"
hsetprop $tc_root/setpoint driving 0
return -code error $catch_message
}
sct print "setPoint: [hget $tc_root/drive_state]"
return $nextState
}
@@ -213,7 +219,7 @@ debug_log "getState returns: $nextState"
set nextState idle
} else {
set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
if { $my_driving } {
if { $my_driving || [hval $tc_root/status] != "idle"} {
if { [string toupper [sct result]] == "IDLE" } {
hset $tc_root/status "idle"
hsetprop $tc_root/setpoint driving 0
@@ -379,7 +385,7 @@ debug_log "Registering node $nodeName for write callback"
Display Status 1 0 0 text internal {STATUS} {rdValue} {} {} {}\
Display Location 1 0 0 text internal {WHERE} {rdValue} {} {} {}\
Control Pallet_Nam 0 1 0 text user {} {} {} {setNam} {A,B}\
Control Pallet_Idx 0 1 0 int user {} {} {} {} {}\
Control Pallet_Idx 0 0 0 int user {} {} {} {} {}\
Control Target_Loc 0 1 0 Text user {} {} {} {setNam} {Beam,Vacuum}\
Control Rotate 0 1 0 int user {} {} {} {setRot} {}\
}