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Changes to ROTATE in driver to match changes in Robots

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r3063 | dcl | 2011-02-18 11:22:21 +1100 (Fri, 18 Feb 2011) | 1 line
This commit is contained in:
Douglas Clowes
2011-02-18 11:22:21 +11:00
parent dfc47e9cc5
commit d83b346ef7
1 changed files with 28 additions and 5 deletions
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33
site_ansto/instrument/config/robots/sct_pickandplace.tcl
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@@ -40,6 +40,23 @@ debug_log "setNam new data for $tc_root [sct] result=$data"
return $nextState
}
proc setRot {tc_root nextState cmd} {
set data [string toupper [sct target]]
if {$data != [sct oldval]} {
sct oldval $data
sct update $data
sct utime readtime
debug_log "setRot new data for $tc_root [sct] result=$data"
if {$data > 0} {
hset $tc_root/status "busy"
sct send "ROTATE $data -1"
} else {
sct send "STOPROT"
}
}
return $nextState
}
proc chkWrite {tc_root} {
set data [sct result]
debug_log "chkWrite resp=$data sct=[sct] tc_root=$tc_root"
@@ -82,8 +99,6 @@ debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]
sct utime readtime
debug_log "setPoint new data for $tc_root [sct] result=$par"
}
hset $tc_root/status "busy"
sct print "status: busy"
if { [sct target] == 1 } {
if { [string toupper [hval $tc_root/Control/Target_Loc]] == "BEAM" } {
set cmd "SampToBeam [hval $tc_root/Control/Pallet_Nam] [hval $tc_root/Control/Pallet_Idx]"
@@ -120,6 +135,8 @@ debug_log "sct send $cmd"
debug_log "error:$err_msg"
return -code error "$err_msg"
}
hset $tc_root/status "busy"
sct print "status: busy"
hsetprop $tc_root/setpoint driving 1
} catch_message ]
if {$catch_status != 0} {
@@ -198,8 +215,12 @@ debug_log "getState returns: $nextState"
set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
if { $my_driving } {
if { [string toupper [sct result]] == "IDLE" } {
hset $tc_root/status "idle"
hsetprop $tc_root/setpoint driving 0
hset $tc_root/sensor/value [hval $tc_root/setpoint]
if {[hval $tc_root/Control/Rotate] > 0} {
hset $tc_root/Control/Rotate 0
}
}
}
}
@@ -236,10 +257,11 @@ debug_log "getState returns: $nextState"
# NOTE: The drive adapter initially sets the writestatus to "start" and will
# only call this when writestatus!="start"
proc drivestatus {tc_root} {
if {[sct driving]} {
if {[hval $tc_root/status] == "busy"} {
return busy
} elseif {[sct driving]} {
return busy
} else {
sct print "drivestatus: idle"
return idle
}
}
@@ -358,6 +380,7 @@ debug_log "Registering node $nodeName for write callback"
Control Pallet_Nam 0 1 0 text user {} {} {} {setNam} {A,B}\
Control Pallet_Idx 0 1 0 int user {} {} {} {} {}\
Control Target_Loc 0 1 0 Text user {} {} {} {setNam} {Beam,Vacuum}\
Control Rotate 0 1 0 int user {} {} {} {setRot} {}\
}
hfactory $scobj_hpath/sensor plain spy none
@@ -461,4 +484,4 @@ namespace import ::scobj::robot_pp::*
#add_robot robbie 137.157.201.213 502 5
#add_robot robbie localhost 30509
#add_robot robbie 137.157.201.26 6000
add_robot robbie 137.157.201.26 6000