Modifications for new util, config directory structure.
r1498 | ffr | 2007-02-16 16:43:59 +1100 (Fri, 16 Feb 2007) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
4654c4c9c7
commit
d5cde7c4f6
766
site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
Normal file
766
site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
Normal file
@@ -0,0 +1,766 @@
|
||||
# $Revision: 1.1 $
|
||||
# $Date: 2007-02-16 05:43:59 $
|
||||
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
|
||||
# Last revision by: $Author: ffr $
|
||||
|
||||
# START MOTOR CONFIGURATION
|
||||
|
||||
set animal echidna
|
||||
# Setup addresses of Galil DMC2280 controllers.
|
||||
set dmc2280_controller1(host) mc1-$animal
|
||||
set dmc2280_controller1(port) pmc1-$animal
|
||||
|
||||
set dmc2280_controller2(host) mc2-$animal
|
||||
set dmc2280_controller2(port) pmc2-$animal
|
||||
|
||||
set dmc2280_controller3(host) mc3-$animal
|
||||
set dmc2280_controller3(port) pmc3-$animal
|
||||
|
||||
set dmc2280_controller4(host) mc4-$animal
|
||||
set dmc2280_controller4(port) pmc4-$animal
|
||||
|
||||
#Measured absolute encoder reading at home position
|
||||
set mphi_Home 7413209
|
||||
set mchi_Home 7818834
|
||||
set my_Home 7781389
|
||||
set mx_Home 7580366
|
||||
set mom_Home 13442930
|
||||
set mtth_Home 11534660
|
||||
set pcx_Home 8345644
|
||||
set pcr_Home 6197934
|
||||
set sphi_Home 7924507
|
||||
set schi_Home 7542917
|
||||
set sy_Home 7626584
|
||||
set sx_Home 24029910
|
||||
set som_Home 24984596
|
||||
set stth_Home 14530407
|
||||
|
||||
#Measured or computed slit motor steps per millimetre
|
||||
# 125 steps * 161:1 gears = 20125
|
||||
set slitStepRate 20125
|
||||
|
||||
#Measured slit gap, in units, after homing on limit switches
|
||||
set ss1h_Gap 54.0
|
||||
set ss1v_Gap 207.5
|
||||
set ss2h_Gap 52.0
|
||||
set ss2v_Gap 203.4
|
||||
|
||||
set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
|
||||
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
|
||||
set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
|
||||
set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
|
||||
set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
|
||||
set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
|
||||
set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
|
||||
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
|
||||
|
||||
#Default upper and lower ranges for vertical slits
|
||||
set vertSlitLowRange 25
|
||||
set vertSlitUpRange 100
|
||||
|
||||
#Default upper and lower ranges for horizontal slits
|
||||
set horSlitLowRange 25
|
||||
set horSlitUpRange 25
|
||||
|
||||
# set movecount high to reduce the frequency of
|
||||
# hnotify messages to a reasonable level
|
||||
set move_count 100
|
||||
|
||||
# Run slit homing routines on controllers 3 and 4
|
||||
#if [catch {dmc_connect dmc2280_controller3} ] {
|
||||
# dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
|
||||
# dmc_close dmc2280_controller3
|
||||
#}
|
||||
#if [catch {dmc_connect dmc2280_controller4} ] {
|
||||
# dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
|
||||
# dmc_close dmc2280_controller4
|
||||
#}
|
||||
|
||||
############################
|
||||
# Motor Controller 1
|
||||
# Motor Controller 1
|
||||
# Motor Controller 1
|
||||
############################
|
||||
#:TP at HOME
|
||||
#
|
||||
|
||||
# Monochromator phi, Tilt 1, upper
|
||||
Motor mphi DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis A\
|
||||
units degrees\
|
||||
hardlowerlim -15\
|
||||
hardupperlim 15\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome $mphi_Home\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
|
||||
mphi speed 1
|
||||
mphi movecount $move_count
|
||||
mphi precision 0.05
|
||||
|
||||
# Monochromator chi, Tilt 2, lower
|
||||
Motor mchi DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis B\
|
||||
units degrees\
|
||||
hardlowerlim 75\
|
||||
hardupperlim 105\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome $mchi_Home\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
|
||||
mchi speed 1
|
||||
mchi movecount $move_count
|
||||
mchi precision 0.01
|
||||
|
||||
# Monochromator Trans 1, upper
|
||||
Motor my DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome $my_Home\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
|
||||
my speed 1
|
||||
my movecount $move_count
|
||||
my precision 0.01
|
||||
|
||||
# Monochromator Trans 2, lower
|
||||
Motor mx DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome $mx_Home\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
|
||||
mx speed 1
|
||||
mx movecount $move_count
|
||||
mx precision 0.01
|
||||
|
||||
# Monochromator omega, rotate
|
||||
Motor mom DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis E\
|
||||
units degrees\
|
||||
hardlowerlim -180\
|
||||
hardupperlim 180\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -12500\
|
||||
absEnc 1\
|
||||
absEncHome $mom_Home\
|
||||
cntsPerX -4096]
|
||||
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
|
||||
mom speed 1
|
||||
mom movecount $move_count
|
||||
mom precision 0.01
|
||||
|
||||
# Monochromator two-theta, flight-tube rotate
|
||||
Motor mtth DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis F\
|
||||
units degrees\
|
||||
hardlowerlim 90\
|
||||
hardupperlim 137\
|
||||
maxSpeed 0.2\
|
||||
maxAccel 0.2\
|
||||
maxDecel 0.2\
|
||||
stepsPerX [expr 25000*18]\
|
||||
absEnc 1\
|
||||
absEncHome $mtth_Home\
|
||||
cntsPerX -93207]
|
||||
mtth softlowerlim 90
|
||||
mtth softupperlim 137
|
||||
mtth home 90
|
||||
mtth speed 0.2
|
||||
mtth movecount $move_count
|
||||
mtth accel 0.01
|
||||
mtth decel 0.01
|
||||
mtth precision 0.02
|
||||
mtth maxretry 10
|
||||
mtth failafter 10
|
||||
mtth blockage_check_interval 5
|
||||
# Primary Collimator Translation X
|
||||
Motor pcx DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
hardlowerlim 0\
|
||||
hardupperlim 140\
|
||||
maxSpeed 10\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX [expr -25000/6]\
|
||||
absEnc 1\
|
||||
absEncHome $pcx_Home\
|
||||
cntsPerX [expr 8192/6]]
|
||||
setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
|
||||
pcx speed 1
|
||||
pcx movecount $move_count
|
||||
pcx precision 0.01
|
||||
|
||||
# Primary Collimator Rotation
|
||||
Motor pcr DMC2280 [params \
|
||||
host $dmc2280_controller1(host)\
|
||||
port $dmc2280_controller1(port)\
|
||||
axis H\
|
||||
units degrees\
|
||||
hardlowerlim -10\
|
||||
hardupperlim 10\
|
||||
maxSpeed 0.1\
|
||||
maxAccel 0.1\
|
||||
maxDecel 0.1\
|
||||
stepsPerX [expr -25000/(360/100)]\
|
||||
absEnc 1\
|
||||
absEncHome $pcr_Home\
|
||||
cntsPerX [expr 8192/(360/100)]]
|
||||
setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
|
||||
pcr speed 0.1
|
||||
pcr movecount $move_count
|
||||
pcr precision 0.01
|
||||
|
||||
############################
|
||||
# Motor Controller 2
|
||||
# Motor Controller 2
|
||||
# Motor Controller 2
|
||||
############################
|
||||
|
||||
# Sample Tilt 1, upper, phi
|
||||
Motor sphi DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis A\
|
||||
units degrees\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome $sphi_Home\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
|
||||
sphi speed 1
|
||||
sphi movecount $move_count
|
||||
sphi precision 0.01
|
||||
|
||||
# Sample Tilt 2, lower, chi
|
||||
Motor schi DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis B\
|
||||
units degrees\
|
||||
hardlowerlim 70\
|
||||
hardupperlim 110\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome $schi_Home\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
|
||||
schi speed 1
|
||||
schi movecount $move_count
|
||||
schi precision 0.01
|
||||
|
||||
# Sample Trans 1, upper, y
|
||||
Motor sy DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis C\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 25000\
|
||||
absEnc 1\
|
||||
absEncHome $sy_Home\
|
||||
cntsPerX 8192]
|
||||
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
|
||||
sy speed 1
|
||||
sy movecount $move_count
|
||||
sy precision 0.01
|
||||
|
||||
# Sample Trans2, lower, x
|
||||
Motor sx DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis D\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 20\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -25000\
|
||||
absEnc 1\
|
||||
absEncHome $sx_Home\
|
||||
cntsPerX -8192]
|
||||
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
|
||||
sx speed 1
|
||||
sx movecount $move_count
|
||||
sx precision 0.01
|
||||
|
||||
# Sample Omega, rotate
|
||||
Motor som DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis E\
|
||||
units degrees\
|
||||
hardlowerlim -142\
|
||||
hardupperlim 218\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX 12500\
|
||||
absEnc 1\
|
||||
absEncHome $som_Home\
|
||||
cntsPerX 4096]
|
||||
setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
|
||||
som speed 1
|
||||
som movecount $move_count
|
||||
som precision 0.01
|
||||
|
||||
# Sample two-theta, detector rotate
|
||||
Motor stth DMC2280 [params \
|
||||
host $dmc2280_controller2(host)\
|
||||
port $dmc2280_controller2(port)\
|
||||
axis F\
|
||||
units degrees\
|
||||
hardlowerlim -79\
|
||||
hardupperlim 77\
|
||||
maxSpeed 0.5\
|
||||
maxAccel 0.1\
|
||||
maxDecel 0.1\
|
||||
stepsPerX 125000\
|
||||
absEnc 1\
|
||||
absEncHome $stth_Home\
|
||||
cntsPerX -93207]
|
||||
stth softlowerlim -77
|
||||
stth softupperlim 74
|
||||
stth home 0
|
||||
stth speed 0.5
|
||||
stth movecount $move_count
|
||||
stth precision 0.01
|
||||
stth blockage_check_interval 2
|
||||
|
||||
############################
|
||||
# Motor Controller 3
|
||||
# Motor Controller 3
|
||||
# Motor Controller 3
|
||||
############################
|
||||
#
|
||||
|
||||
# Monochromator Focusing (Ge)
|
||||
#Motor mf1 DMC2280 [params \
|
||||
# host $dmc2280_controller3(host)\
|
||||
# port $dmc2280_controller3(port)\
|
||||
# axis A\
|
||||
# units degrees\
|
||||
# maxSpeed xxxx\
|
||||
# maxAccel xxxx\
|
||||
# maxDecel xxxx\
|
||||
# stepsPerX xxxx\
|
||||
# absEnc 1\
|
||||
# absEncHome $mf1_Home\
|
||||
# cntsPerX xxxx]
|
||||
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
|
||||
#mf1 speed 1
|
||||
#mfl movecount $move_count
|
||||
#mf1 precision 0.01
|
||||
|
||||
# Slit 1, right
|
||||
Motor ss1r DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis E\
|
||||
units mm\
|
||||
hardlowerlim -15\
|
||||
hardupperlim 35\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss1r_Home]
|
||||
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
ss1r movecount $move_count
|
||||
|
||||
# Slit 1, left
|
||||
Motor ss1l DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis F\
|
||||
units mm\
|
||||
hardlowerlim -15\
|
||||
hardupperlim 35\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss1l_Home]
|
||||
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
ss1l movecount $move_count
|
||||
|
||||
# Slit 1, up
|
||||
Motor ss1u DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 100\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss1u_Home]
|
||||
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
ss1u movecount $move_count
|
||||
|
||||
# Slit 1, down
|
||||
Motor ss1d DMC2280 [params \
|
||||
host $dmc2280_controller3(host)\
|
||||
port $dmc2280_controller3(port)\
|
||||
axis H\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 100\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss1d_Home]
|
||||
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
ss1d movecount $move_count
|
||||
|
||||
############################
|
||||
# Motor Controller 4
|
||||
# Motor Controller 4
|
||||
# Motor Controller 4
|
||||
############################
|
||||
#
|
||||
|
||||
# Little is known about the Eulerian Cradle
|
||||
## Eulerian-phi
|
||||
#Motor ephi DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis A\
|
||||
# units degrees\
|
||||
# maxSpeed xxxx\
|
||||
# maxAccel xxxx\
|
||||
# maxDecel xxxx\
|
||||
# stepsPerX xxxx\
|
||||
# absEnc 1\
|
||||
# absEncHome $ephi_Home\
|
||||
# cntsPerX xxxx]
|
||||
#setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
|
||||
|
||||
#Motor echi DMC2280 [params \
|
||||
# host $dmc2280_controller4(host)\
|
||||
# port $dmc2280_controller4(port)\
|
||||
# axis B\
|
||||
# units degrees\
|
||||
# maxSpeed xxxx\
|
||||
# maxAccel xxxx\
|
||||
# maxDecel xxxx\
|
||||
# stepsPerX xxxx\
|
||||
# absEnc 1\
|
||||
# absEncHome $echi_Home\
|
||||
# cntsPerX xxxx]
|
||||
#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180
|
||||
|
||||
# Slit 2, right
|
||||
Motor ss2r DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis E\
|
||||
units mm\
|
||||
hardlowerlim -15\
|
||||
hardupperlim 35\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss2r_Home]
|
||||
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
ss2r movecount $move_count
|
||||
|
||||
# Slit 2, left
|
||||
Motor ss2l DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis F\
|
||||
units mm\
|
||||
hardlowerlim -15\
|
||||
hardupperlim 35\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss2l_Home]
|
||||
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
|
||||
ss2l movecount $move_count
|
||||
|
||||
# Slit 2, up
|
||||
Motor ss2u DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis G\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 100\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss2u_Home]
|
||||
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
ss2u movecount $move_count
|
||||
|
||||
# Slit 2, down
|
||||
Motor ss2d DMC2280 [params \
|
||||
host $dmc2280_controller4(host)\
|
||||
port $dmc2280_controller4(port)\
|
||||
axis H\
|
||||
units mm\
|
||||
hardlowerlim -20\
|
||||
hardupperlim 100\
|
||||
maxSpeed 1\
|
||||
maxAccel 1\
|
||||
maxDecel 1\
|
||||
stepsPerX -$slitStepRate\
|
||||
motorHome $ss2d_Home]
|
||||
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
|
||||
ss2d movecount $move_count
|
||||
|
||||
proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
|
||||
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
|
||||
publish mthSet user
|
||||
publish mthGet user
|
||||
MakeConfigurableMotor mth
|
||||
mth readscript mthGet
|
||||
mth drivescript mthSet
|
||||
|
||||
proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
|
||||
proc sthSet {val} { return "stth=[SplitReply [stth]]"}
|
||||
publish sthGet user
|
||||
publish sthSet user
|
||||
MakeConfigurableMotor sth
|
||||
sth readscript sthGet
|
||||
sth drivescript sthSet
|
||||
|
||||
#--------------------------------------------------------
|
||||
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 ss1widthscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readwidth {} {
|
||||
return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
|
||||
}
|
||||
publish ss1readwidth user
|
||||
MakeConfigurableMotor ss1hg
|
||||
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 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 ss1heightscript user
|
||||
|
||||
#-------------------------------------------------------
|
||||
proc ss1readheight {} {
|
||||
return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
|
||||
}
|
||||
publish ss1readheight user
|
||||
|
||||
#---------------------------------------------------------
|
||||
MakeConfigurableMotor ss1vg
|
||||
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
|
||||
|
||||
# END MOTOR CONFIGURATION
|
||||
Reference in New Issue
Block a user