Using same naming convention as HRPD after confirmation from Andrew Studer.
Set controller addresses and corrected slit mm to steps conversion. r1000 | ffr | 2006-05-22 15:00:36 +1000 (Mon, 22 May 2006) | 3 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
4a00d8b17f
commit
ce18b581f2
@@ -1,5 +1,5 @@
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# $Revision: 1.1 $
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# $Date: 2006-05-08 22:31:50 $
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# $Revision: 1.2 $
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# $Date: 2006-05-22 05:00:36 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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@@ -12,10 +12,10 @@ proc params {args} {
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eval "array set x [list $args]"
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}
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ServerOption statusfile log/status.tcl
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ServerOption RedirectFile log/stdout
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ServerOption LogFileBaseName log/serverlog
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ServerOption LogFileDir log
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ServerOption statusfile /home/sics/SICS/log/status.tcl
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ServerOption RedirectFile /home/sics/SICS/log/stdout
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ServerOption LogFileBaseName /home/sics/SICS/log/serverlog
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ServerOption LogFileDir /home/sics/SICS/log
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ServerOption QuieckPort 60004
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ServerOption ServerPort 60003
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ServerOption InterruptPort 60002
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@@ -27,9 +27,9 @@ ServerOption ReadTimeOut 10
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SicsUser manager ansto 1
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SicsUser user sydney 2
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SicsUser spy 007 3
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MakeDataNumber SicsDataNumber data/DataNumber
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MakeDataNumber SicsDataNumber /home/sics/SICS/data/DataNumber
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VarMake SicsDataPath Text Internal
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SicsDataPath data/
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SicsDataPath /home/sics/SICS/data/
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SicsDataPath lock
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VarMake SicsDataPrefix Text Internal
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SicsDataPrefix smp
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@@ -44,7 +44,7 @@ VarMake starttime Text User
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VarMake currentfile Text User
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VarMake batchroot Text User
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VarMake Instrument Text Internal
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Instrument HRPD
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Instrument Wombat
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Instrument lock
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MakeDrive
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#END SERVER CONFIGURATION SECTION
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@@ -52,15 +52,19 @@ MakeDrive
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########################################
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# INSTRUMENT SPECIFIC CONFIGURATION
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#XXX WHICH CONTROLLER DO ECHI AND EPHI BELONG TO
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#xxxx WHICH CONTROLLER DO ECHI AND EPHI BELONG TO
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#Motor echi DMC2280 [params \
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# host hhh\
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# port ppp\
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# host xxxx\
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# port xxxx\
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# axis A\
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# stepsPerX XXX\
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# units xxxx\
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# maxSpeed xxxx\
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# maxAccel xxxx\
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# maxDecel xxxx\
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# stepsPerX xxxx\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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# absEncHome xxxx\
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# cntsPerX xxxx]
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#echi hardlowerlim 0
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#echi hardupperlim 360
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#echi softlowerlim 0
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@@ -68,13 +72,17 @@ MakeDrive
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#echi home 0
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#Motor ephi DMC2280 [params \
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# host hhh\
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# port ppp\
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# axis A?\
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# stepsPerX XXX\
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# host xxxx\
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# port xxxx\
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# axis xxxx\
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# units xxxx\
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# maxSpeed xxxx\
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# maxAccel xxxx\
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# maxDecel xxxx\
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# stepsPerX xxxx\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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# absEncHome xxxx\
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# cntsPerX xxxx]
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#ephi hardlowerlim 0
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#ephi hardupperlim 360
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#ephi softlowerlim 0
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@@ -82,173 +90,218 @@ MakeDrive
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#ephi home 0
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) 137.157.201.66
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set dmc2280_controller1(host) 137.157.201.130
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set dmc2280_controller1(port) 1034
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set dmc2280_controller2(host) localhost
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#set dmc2280_controller2(host) 137.157.201.67 1034
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set dmc2280_controller2(host) 137.157.201.131
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set dmc2280_controller2(port) 1034
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set dmc2280_controller3(host) localhost
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#set dmc2280_controller3(host) 137.157.201.67
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set dmc2280_controller3(port) 1035
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#set dmc2280_controller3(port) 1034
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set dmc2280_controller3(host) 137.157.201.132
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set dmc2280_controller3(port) 1034
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set dmc2280_controller4(host) 137.157.201.68
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set dmc2280_controller4(host) 137.157.201.133
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set dmc2280_controller4(port) 1034
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#Motor mth DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mth hardlowerlim -180
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#mth hardupperlim 180
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#mth softlowerlim -180
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#mth softupperlim 180
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#mth home 0
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#
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#Motor mom DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mom hardlowerlim -180
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#mom hardupperlim 180
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#mom softlowerlim -180
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#mom softupperlim 180
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#mom home 0
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#
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#Motor mtth DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mtth hardlowerlim 85
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#mtth hardupperlim 155
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#mtth softlowerlim 85
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#mtth softupperlim 155
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#mtth home 120
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#
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#Motor mchi DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mchi hardlowerlim 70
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#mchi hardupperlim 110
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#mchi softlowerlim 70
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#mchi softupperlim 110
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#mchi home 90
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#
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#Motor mphi DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mphi hardlowerlim -20
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#mphi hardupperlim 20
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#mphi softlowerlim -20
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#mphi softupperlim 20
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#mphi home 0
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#
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#Motor mx DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mx hardlowerlim -20
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#mx hardupperlim 20
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#mx softlowerlim -20
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#mx softupperlim 20
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#mx home 0
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#
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#Motor my DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#my hardlowerlim -20
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#my hardupperlim 20
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#my softlowerlim -20
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#my softupperlim 20
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#my home 0
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#
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#Motor mr DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis X?\
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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#mr hardlowerlim HLL
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#mr hardupperlim HUL
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#mr softlowerlim SLL
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#mr softupperlim SUL
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#mr home 0
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#
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#Motor pc1 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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# stepsPerX XXX]
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#pc1 hardlowerlim HLL
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#pc1 hardupperlim HUL
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#pc1 softlowerlim SLL
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#pc1 softupperlim SUL
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#pc1 home 0
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#
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#Motor pc2 DMC2280 [params \
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# host $dmc2280_controller1(host)\
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# port $dmc2280_controller1(port)\
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# axis G\
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# stepsPerX XXX]
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#pc2 hardlowerlim HLL
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#pc2 hardupperlim HUL
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#pc2 softlowerlim SLL
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#pc2 softupperlim SUL
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#pc2 home 0
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#
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#Motor sth 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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# stepsPerX XXX\
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# absEnc 1\
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# absEncHome YYY\
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# cntsPerX ZZZ]
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#sth hardlowerlim -180
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#sth hardupperlim 180
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#sth softlowerlim -180
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#sth softupperlim 180
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#sth home 0
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Motor mth DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mth hardlowerlim -180
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mth hardupperlim 180
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mth softlowerlim -180
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mth softupperlim 180
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mth home 0
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Motor mom DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mom hardlowerlim -180
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mom hardupperlim 180
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mom softlowerlim -180
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mom softupperlim 180
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mom home 0
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Motor mtth DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mtth hardlowerlim 85
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mtth hardupperlim 155
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mtth softlowerlim 85
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mtth softupperlim 155
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mtth home 120
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Motor mchi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mchi hardlowerlim 70
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mchi hardupperlim 110
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mchi softlowerlim 70
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mchi softupperlim 110
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mchi home 90
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Motor mphi DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mphi hardlowerlim -20
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mphi hardupperlim 20
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mphi softlowerlim -20
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mphi softupperlim 20
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mphi home 0
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Motor mx DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mx hardlowerlim -20
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mx hardupperlim 20
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mx softlowerlim -20
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mx softupperlim 20
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mx home 0
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Motor my DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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maxSpeed xxxx\
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maxAccel xxxx\
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maxDecel xxxx\
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stepsPerX xxxx\
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absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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my hardlowerlim -20
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my hardupperlim 20
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my softlowerlim -20
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my softupperlim 20
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my home 0
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Motor mr DMC2280 [params \
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis xxxx\
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units xxxx\
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||||
maxSpeed xxxx\
|
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maxAccel xxxx\
|
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maxDecel xxxx\
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||||
stepsPerX xxxx\
|
||||
absEnc 1\
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absEncHome xxxx\
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cntsPerX xxxx]
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mr hardlowerlim xxxx
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mr hardupperlim xxxx
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mr softlowerlim xxxx
|
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mr softupperlim xxxx
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mr home 0
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|
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Motor pc1 DMC2280 [params \
|
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host $dmc2280_controller1(host)\
|
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port $dmc2280_controller1(port)\
|
||||
axis F\
|
||||
units xxxx\
|
||||
maxSpeed xxxx\
|
||||
maxAccel xxxx\
|
||||
maxDecel xxxx\
|
||||
stepsPerX xxxx]
|
||||
pc1 hardlowerlim xxxx
|
||||
pc1 hardupperlim xxxx
|
||||
pc1 softlowerlim xxxx
|
||||
pc1 softupperlim xxxx
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||||
pc1 home 0
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||||
|
||||
Motor pc2 DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
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||||
port $dmc2280_controller1(port)\
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||||
axis G\
|
||||
units xxxx\
|
||||
maxSpeed xxxx\
|
||||
maxAccel xxxx\
|
||||
maxDecel xxxx\
|
||||
stepsPerX xxxx]
|
||||
pc2 hardlowerlim xxxx
|
||||
pc2 hardupperlim xxxx
|
||||
pc2 softlowerlim xxxx
|
||||
pc2 softupperlim xxxx
|
||||
pc2 home 0
|
||||
|
||||
Motor sth DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis xxxx\
|
||||
units xxxx\
|
||||
maxSpeed xxxx\
|
||||
maxAccel xxxx\
|
||||
maxDecel xxxx\
|
||||
stepsPerX xxxx\
|
||||
absEnc 1\
|
||||
absEncHome xxxx\
|
||||
cntsPerX xxxx]
|
||||
sth hardlowerlim -180
|
||||
sth hardupperlim 180
|
||||
sth softlowerlim -180
|
||||
sth softupperlim 180
|
||||
sth home 0
|
||||
|
||||
Motor som DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
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||||
axis B\
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||||
units degrees\
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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 17694127\
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||||
@@ -263,8 +316,11 @@ Motor stth DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
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||||
axis A\
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||||
units degrees\
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||||
maxSpeed 0.2\
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maxAccel 0.2\
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maxDecel 0.2\
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||||
stepsPerX 125000\
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||||
motorHome 11250000\
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||||
absEnc 1\
|
||||
absEncHome 6559259\
|
||||
cntsPerX -93207]
|
||||
@@ -278,8 +334,11 @@ Motor schi DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis E\
|
||||
units degrees\
|
||||
maxSpeed 1\
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||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
motorHome 500000\
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||||
absEnc 1\
|
||||
absEncHome 7581355\
|
||||
cntsPerX -8192]
|
||||
@@ -292,8 +351,11 @@ Motor sphi DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis F\
|
||||
units degrees\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
motorHome 500000\
|
||||
absEnc 1\
|
||||
absEncHome 7934290\
|
||||
cntsPerX -8192]
|
||||
@@ -307,6 +369,10 @@ Motor sx DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome 7562793\
|
||||
@@ -321,6 +387,10 @@ Motor sy DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome 7562793\
|
||||
@@ -335,7 +405,11 @@ Motor ss1u DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis C\
|
||||
stepsPerX -20000\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2040518]
|
||||
ss1u hardlowerlim 0
|
||||
ss1u hardupperlim 50
|
||||
@@ -347,7 +421,11 @@ Motor ss1d DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis D\
|
||||
stepsPerX -20000\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2040518]
|
||||
ss1d hardlowerlim 0
|
||||
ss1d hardupperlim 50
|
||||
@@ -359,7 +437,11 @@ Motor ss1l DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis A\
|
||||
stepsPerX -20000\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 542093]
|
||||
ss1l hardlowerlim 0
|
||||
ss1l hardupperlim 50
|
||||
@@ -371,7 +453,11 @@ Motor ss1r DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis B\
|
||||
stepsPerX -20000\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 542093]
|
||||
ss1r hardlowerlim 0
|
||||
ss1r hardupperlim 50
|
||||
@@ -379,95 +465,250 @@ ss1r softlowerlim 0
|
||||
ss1r softupperlim 50
|
||||
ss1r home 0
|
||||
|
||||
#Motor ss2u DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis F?\
|
||||
# stepsPerX -20000\
|
||||
# motorHome 2043085]
|
||||
#ss2u hardlowerlim 0
|
||||
#ss2u hardupperlim 50
|
||||
#ss2u softlowerlim 0
|
||||
#ss2u softupperlim 50
|
||||
#ss2u home 0
|
||||
#
|
||||
#Motor ss2d DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis F?\
|
||||
# stepsPerX -20000\
|
||||
# motorHome 2043085]
|
||||
#ss2d hardlowerlim 0
|
||||
#ss2d hardupperlim 50
|
||||
#ss2d softlowerlim 0
|
||||
#ss2d softupperlim 50
|
||||
#ss2d home 0
|
||||
#
|
||||
#Motor ss2l DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis F?\
|
||||
# stepsPerX -20000\
|
||||
# motorHome 500000]
|
||||
#ss2l hardlowerlim 0
|
||||
#ss2l hardupperlim 50
|
||||
#ss2l softlowerlim 0
|
||||
#ss2l softupperlim 50
|
||||
#ss2l home 0
|
||||
#
|
||||
#Motor ss2r DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis F?\
|
||||
# stepsPerX -20000\
|
||||
# motorHome 500000]
|
||||
#ss2r hardlowerlim 0
|
||||
#ss2r hardupperlim 50
|
||||
#ss2r softlowerlim 0
|
||||
#ss2r softupperlim 50
|
||||
#ss2r home 0
|
||||
Motor ss2u DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
ss2u hardlowerlim 0
|
||||
ss2u hardupperlim 50
|
||||
ss2u softlowerlim 0
|
||||
ss2u softupperlim 50
|
||||
ss2u home 0
|
||||
|
||||
Motor ss2d DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 2043085]
|
||||
ss2d hardlowerlim 0
|
||||
ss2d hardupperlim 50
|
||||
ss2d softlowerlim 0
|
||||
ss2d softupperlim 50
|
||||
ss2d home 0
|
||||
|
||||
Motor ss2l DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis A\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
ss2l hardlowerlim 0
|
||||
ss2l hardupperlim 50
|
||||
ss2l softlowerlim 0
|
||||
ss2l softupperlim 50
|
||||
ss2l home 0
|
||||
|
||||
Motor ss2r DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis B\
|
||||
units mm\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -20125\
|
||||
motorHome 500000]
|
||||
ss2r hardlowerlim 0
|
||||
ss2r hardupperlim 50
|
||||
ss2r softlowerlim 0
|
||||
ss2r softupperlim 50
|
||||
ss2r home 0
|
||||
|
||||
|
||||
proc SplitReply { text } {
|
||||
set l [split $text =]
|
||||
return [lindex $l 1]
|
||||
}
|
||||
# virtual motor d1(h)orizontal (width)
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc widthscript {val} {
|
||||
proc ss1widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [ss1r]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [ss1l]] + $diff/2]
|
||||
return "ss1r=$newD1R,ss1l=$newD1L"
|
||||
}
|
||||
publish widthscript user
|
||||
publish ss1widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc readwidth {} {
|
||||
proc ss1readwidth {} {
|
||||
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
}
|
||||
publish readwidth user
|
||||
#-------------------------------------------------------
|
||||
publish ss1readwidth user
|
||||
MakeConfigurableMotor ss1hg
|
||||
ss1hg drivescript widthscript
|
||||
ss1hg readscript readwidth
|
||||
# virtual motor d1v(ertical), height
|
||||
ss1hg drivescript ss1widthscript
|
||||
ss1hg readscript ss1readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1horoffsetscript {val} {
|
||||
set SR [SplitReply [ss1r]]
|
||||
set SL [SplitReply [ss1l]]
|
||||
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1R [expr $SR + $diff]
|
||||
set newD1L [expr $SL - $diff]
|
||||
return "ss1r=$newD1R,ss1l=$newD1L"
|
||||
}
|
||||
publish ss1horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readhoroffset {} {
|
||||
set SR [SplitReply [ss1r]]
|
||||
return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
|
||||
}
|
||||
publish ss1readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss1ho
|
||||
ss1ho drivescript ss1horoffsetscript
|
||||
ss1ho readscript ss1readhoroffset
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc heightscript {val} {
|
||||
proc ss1heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [ss1d]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [ss1u]] + $diff/2]
|
||||
return "ss1d=$newD1B,ss1u=$newD1T"
|
||||
}
|
||||
publish heightscript user
|
||||
publish ss1heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc readheight {} {
|
||||
proc ss1readheight {} {
|
||||
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
}
|
||||
publish readheight user
|
||||
publish ss1readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vg
|
||||
ss1vg drivescript heightscript
|
||||
ss1vg readscript readheight
|
||||
ss1vg drivescript ss1heightscript
|
||||
ss1vg readscript ss1readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss1vertoffsetscript {val} {
|
||||
set SU [SplitReply [ss1u]]
|
||||
set SD [SplitReply [ss1d]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "ss1u=$newD1U,ss1d=$newD1D"
|
||||
}
|
||||
publish ss1vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readvertoffset {} {
|
||||
set SU [SplitReply [ss1u]]
|
||||
return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
|
||||
}
|
||||
publish ss1readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vo
|
||||
ss1vo drivescript ss1vertoffsetscript
|
||||
ss1vo readscript ss1readvertoffset
|
||||
###############################################
|
||||
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2widthscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1R [expr [SplitReply [ss2r]] + $diff/2]
|
||||
set newD1L [expr [SplitReply [ss2l]] + $diff/2]
|
||||
return "ss2r=$newD1R,ss2l=$newD1L"
|
||||
}
|
||||
publish ss2widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readwidth {} {
|
||||
return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
|
||||
}
|
||||
publish ss2readwidth user
|
||||
MakeConfigurableMotor ss2hg
|
||||
ss2hg drivescript ss2widthscript
|
||||
ss2hg readscript ss2readwidth
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2horoffsetscript {val} {
|
||||
set SR [SplitReply [ss2r]]
|
||||
set SL [SplitReply [ss2l]]
|
||||
set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1R [expr $SR + $diff]
|
||||
set newD1L [expr $SL - $diff]
|
||||
return "ss2r=$newD1R,ss2l=$newD1L"
|
||||
}
|
||||
publish ss2horoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readhoroffset {} {
|
||||
set SR [SplitReply [ss2r]]
|
||||
return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
|
||||
}
|
||||
publish ss2readhoroffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss2ho
|
||||
ss2ho drivescript ss2horoffsetscript
|
||||
ss2ho readscript ss2readhoroffset
|
||||
|
||||
#-----------------------------------------------------
|
||||
proc ss2heightscript {val} {
|
||||
set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
||||
set diff [expr $val - $currentWidth]
|
||||
set newD1B [expr [SplitReply [ss2d]] + $diff/2]
|
||||
set newD1T [expr [SplitReply [ss2u]] + $diff/2]
|
||||
return "ss2d=$newD1B,ss2u=$newD1T"
|
||||
}
|
||||
publish ss2heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readheight {} {
|
||||
return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
|
||||
}
|
||||
publish ss2readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss2vg
|
||||
ss2vg drivescript ss2heightscript
|
||||
ss2vg readscript ss2readheight
|
||||
|
||||
#--------------------------------------------------------
|
||||
proc ss2vertoffsetscript {val} {
|
||||
set SU [SplitReply [ss2u]]
|
||||
set SD [SplitReply [ss2d]]
|
||||
set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
|
||||
set diff [expr $val - $currentOffset]
|
||||
set newD1U [expr $SU + $diff]
|
||||
set newD1D [expr $SD - $diff]
|
||||
return "ss2u=$newD1U,ss2d=$newD1D"
|
||||
}
|
||||
publish ss2vertoffsetscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss2readvertoffset {} {
|
||||
set SU [SplitReply [ss2u]]
|
||||
return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
|
||||
}
|
||||
publish ss2readvertoffset user
|
||||
|
||||
#-------------------------------------------------------
|
||||
MakeConfigurableMotor ss2vo
|
||||
ss2vo drivescript ss2vertoffsetscript
|
||||
ss2vo readscript ss2readvertoffset
|
||||
|
||||
Reference in New Issue
Block a user