Douglas Clowes
acec319ee3
Zeroing rotary encoder motor steps fix
2014-07-15 18:52:05 +10:00
Douglas Clowes
22b34395c1
SICS-761 Zero the motor step counter for rotary encoders.
2014-07-15 18:48:38 +10:00
Douglas Clowes
cd80f567fe
Only do the rotary_bits if the previous counts is valid
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This saves decrementing it the first time through because it is in
the fourth quadrant and the initial value (zero) is in the first.
2014-07-10 13:14:27 +10:00
Douglas Clowes
81554ee0d7
Adjust motor oscillation and SetRadCol command
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Count full cycles on motor oscillate
Add logging on motor oscillate
Add "motor oscillate start high/low" options
Remove SetRadCol offset because it is not needed
2014-07-03 12:12:52 +10:00
Douglas Clowes
881fce1feb
SICS-750 Restrict sensitive motor commands to debug+manager or initialization
2014-06-19 16:35:47 +10:00
Douglas Clowes
1a1f00c49a
motor verbose/debug, position_names, hard<->soft and refactor
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Make debug mode and verbose mode separate modes
Implement position names in the "posit" code as alternate to numbers
Refactor to use hard/soft conversion functions
2014-05-30 17:32:47 +10:00
Douglas Clowes
c7a2d05832
Add posit2soft to get soft position from position
2014-05-30 17:19:36 +10:00
Douglas Clowes
4f7fe09f35
Implement a turn counter for wrap-around rotary encoders
2014-05-20 12:26:44 +10:00
Douglas Clowes
4c65f82116
Remove superfluous trailing white space from C files
2014-05-16 17:23:44 +10:00
Douglas Clowes
abafa6a2e6
Change obsoleted eStatus logging to eLog or eValue
2014-05-16 15:39:58 +10:00
Douglas Clowes
4820912bdc
Legacy_fsm cut/paste typo
2014-05-06 17:20:43 +10:00
Douglas Clowes
988cb87371
Fix typo
2014-03-21 11:49:27 +11:00
Douglas Clowes
acf9d75941
Change display of values for posit_count, motorhome, and legacy_fsm
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For hdb and writeTree issues
2014-03-19 16:59:33 +11:00
Douglas Clowes
ef236ecb1b
Refinements to motion reporting for motors
2014-03-13 16:00:24 +11:00
Douglas Clowes
0536c16843
Add motion reporting for driver run and ascillate commands
2014-03-13 12:15:58 +11:00
Douglas Clowes
5eec1a9cd5
Impliment motor "oscillate" and "status" commands and prefix "driver run"
2014-03-11 17:17:57 +11:00
Douglas Clowes
0a012cabc3
Fix possible buffer overruns
2014-03-03 17:04:31 +11:00
Ferdi Franceschini
f6ae3c62f7
SICS-719: Acknowledge errors when in protocol 2 or 3
2014-01-31 09:15:06 +11:00
Douglas Clowes
4069e71748
Add motor tracking on/off/clear/stats/save commands
2013-08-07 12:22:12 +10:00
Douglas Clowes
0ffc87e3d7
Allow motor poll rates to be adjusted without an absolute encoder
2013-08-06 11:39:40 +10:00
Douglas Clowes
59e5539d5e
Make the old motor FSM into a Legacy_FSM and default to the new FSM
2013-08-02 10:47:48 +10:00
Douglas Clowes
88f788e9cc
Add motor creep_factor and creep_substep and remove obsolete code
2013-08-02 09:59:50 +10:00
Douglas Clowes
ea0a9759e1
Add run, halt, error action commands
2013-08-02 09:55:59 +10:00
Douglas Clowes
2a7d0a0699
Add stepCount and moveTime to motor data
2013-08-02 09:55:59 +10:00
Douglas Clowes
627b840c38
Add min and max position on a motor move and output
2013-08-02 09:55:58 +10:00
Douglas Clowes
23f53b8a4c
Break down the motor states further to make them even simpler
2013-08-02 09:55:58 +10:00
Douglas Clowes
4d933a6399
Make motor creep "single-step" one tenth steps-per-count
2013-08-02 09:55:58 +10:00
Douglas Clowes
e9a884fa30
Add some motor statistics and regression to calculate steps per unit
2013-08-02 09:55:58 +10:00
Douglas Clowes
1d18fbf646
Rework the motor end-of-motion tests when creeping
2013-08-02 09:55:57 +10:00
Douglas Clowes
1a64c0a4a9
Separate motor states for move, backlash and creep
2013-08-02 09:55:57 +10:00
Douglas Clowes
6c220b4b55
Move the motor status handling out of line to reduce clutter and promote reuse
2013-08-02 09:55:57 +10:00
Douglas Clowes
6e5c0730e3
Improve debug printing
2013-08-02 09:55:56 +10:00
Douglas Clowes
6187cb3d15
Remove some obsolete and inactive code
2013-08-02 09:55:56 +10:00
Douglas Clowes
746f43ccb8
Change some variable names for the sake of consistency
2013-08-02 09:55:56 +10:00
Douglas Clowes
eeb74517a8
Add some braces, add and improve comments to make code clearer, no functional changes
2013-08-02 09:55:56 +10:00
Douglas Clowes
ca779ddc36
revert the one-shot change
2013-08-02 09:55:55 +10:00
Douglas Clowes
7c0dfe437a
SICS-632 Allocate a copy of the connection, for motor tracing, and free it at the end.
2013-07-08 15:53:59 +10:00
Douglas Clowes
a44cd3464d
Add a disconnected state to the motor state machine, rename Unknown to Init
2013-07-08 15:53:54 +10:00
Douglas Clowes
4bc06cea76
SICS-501 Special one-shot move after changing direction for backlash
2013-07-08 15:53:46 +10:00
Douglas Clowes
b76cee0525
Add sending the motor name in config information to the fake motor
2013-07-01 13:38:22 +10:00
Ferdi Franceschini
357170a735
SICS-616 Removed obsolete setpos command from motor driver.
2013-05-31 09:55:10 +10:00
Douglas Clowes
7e0e068ee2
differentiate forward/reverse limit switches in 'crashed' log message
2013-05-31 09:35:52 +10:00
Ferdi Franceschini
0954c3bceb
Fixed compile error, ‘struct __MoDriv’ has no m ember named ‘errMsg’
2013-05-31 08:06:38 +10:00
Douglas Clowes
4a363d0e95
SICS-614 reallocate errMsg buffer each time it's used
2013-05-28 16:22:44 +10:00
Douglas Clowes
ba128520da
Add motor runtime to motor stopped log message
2013-02-15 09:49:39 +11:00
Douglas Clowes
eb1d042440
set driver_status to HWIdle on HALT in motor Idle state
2013-02-06 10:27:00 +11:00
Douglas Clowes
fd064f3df9
revise logging and state trace
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r3790 | dcl | 2012-11-13 13:38:25 +1100 (Tue, 13 Nov 2012) | 1 line
2012-11-15 17:41:39 +11:00
Douglas Clowes
a9fc20abee
make poll rates configurable by adding motorPollSlow, motorPollFast and airPollTimer parameters
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r3682 | dcl | 2012-07-26 15:48:38 +1000 (Thu, 26 Jul 2012) | 1 line
2012-11-15 17:35:00 +11:00
Douglas Clowes
5118d7b23e
Add TCP address:port to displayed parameters for use in simulation
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r3655 | dcl | 2012-07-19 14:57:03 +1000 (Thu, 19 Jul 2012) | 1 line
2012-11-15 17:33:50 +11:00
Douglas Clowes
f5537d7c9e
Provide a way to configure a simulated motor if it identifies itself as being simulated
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r3638 | dcl | 2012-07-11 15:11:41 +1000 (Wed, 11 Jul 2012) | 1 line
2012-11-15 17:32:44 +11:00
