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add fixed parameters

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r3318 | jgn | 2012-01-03 10:38:15 +1100 (Tue, 03 Jan 2012) | 1 line
This commit is contained in:
Jing Chen
2012-01-03 10:38:15 +11:00
committed by Douglas Clowes
parent 2954216d2d
commit e3a158ad54
1 changed files with 10 additions and 9 deletions
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25
site_ansto/instrument/pelican/config/commands/monodrive.tcl
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@@ -100,24 +100,25 @@ proc DriveMono {mot focus} {
# move the three motors
if {$moveFlag == 1} {
# Unlock the three motors
mra fixed 1
mrb fixed 1
mrc fixed 1
# use momb as roating reference
drive moma $currAngleMomb momc $currAngleMomb
drive mra [expr $mraPosition + $translateDis]
drive mrb [expr $mrbPosition + $translateDis]
drive mrc [expr $mrcPosition + $translateDis]
drive moma $currAngleMoma momc $currAngleMomc
# Lock the three motors again
mra fixed -1
mrb fixed -1
mrc fixed -1
drive momb $currAngleMoma momc $currAngleMoma
drive mra [expr $mraPosition + $translateDis]
drive mrb [expr $mrbPosition + $translateDis]
drive mrc [expr $mrcPosition + $translateDis]
drive momb $currAngleMomb momc $currAngleMomc
# Lock the three motors again
mra fixed 1
mrb fixed 1
mrc fixed 1
}
}
publish DriveMono user