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403d7b91620218105fed35220a8907661c2b7479
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97 Commits

Author SHA1 Message Date
Douglas Clowes
c47e4ad45c Make finite state machine the default. Make blocked motors fail the default. Add "data" to display computed data for motor. Improve blocked motor test message. 
r1962 | dcl | 2007-05-15 12:35:24 +1000 (Tue, 15 May 2007) | 2 lines
 2012-11-15 13:17:14 +11:00
Douglas Clowes
a18500cbf0 multichan becomes AsyncQueue and AsyncProtocol 
r1957 | dcl | 2007-05-11 17:28:31 +1000 (Fri, 11 May 2007) | 2 lines
 2012-11-15 13:16:58 +11:00
Douglas Clowes
84f883f5d7 Implement finite state machine model. Improved backlash (unidirectional motor driving). Precision motor creeping. Ensure thread zero is operating. Floating point steps and counts per unit. "send", "reset", "state" and "trace" commands. 
r1939 | dcl | 2007-05-04 14:01:19 +1000 (Fri, 04 May 2007) | 2 lines
 2012-11-15 13:15:59 +11:00
Douglas Clowes
bbdc2f820d minor, trivial and cosmetic changes not related to state machine implementation 
r1938 | dcl | 2007-05-04 13:47:21 +1000 (Fri, 04 May 2007) | 2 lines
 2012-11-15 13:15:56 +11:00
Douglas Clowes
56cdbec451 remove trailing spaces on numerous lines 
r1898 | dcl | 2007-04-20 11:56:22 +1000 (Fri, 20 Apr 2007) | 2 lines
 2012-11-15 13:15:36 +11:00
Douglas Clowes
d0957b18d5 Move things around, fix typo 
r1896 | dcl | 2007-04-20 09:11:03 +1000 (Fri, 20 Apr 2007) | 2 lines
 2012-11-15 13:15:29 +11:00
Douglas Clowes
8b27116358 backlash preseek made internal 
r1891 | dcl | 2007-04-19 15:56:56 +1000 (Thu, 19 Apr 2007) | 2 lines
 2012-11-15 13:15:22 +11:00
Douglas Clowes
4b33abe79c change comment and reposition stepsPerX in list command 
r1871 | dcl | 2007-04-18 09:59:04 +1000 (Wed, 18 Apr 2007) | 2 lines
 2012-11-15 13:15:15 +11:00
Douglas Clowes
4693ad1686 move string parameters from "list" to "slist" because non-numerics in "list" upset hipadaba stuff. Also implement motor "setpos" command with two arguments. 
r1869 | dcl | 2007-04-18 09:35:32 +1000 (Wed, 18 Apr 2007) | 2 lines
 2012-11-15 13:15:09 +11:00
Douglas Clowes
40e1042cda reverse comparison operators 
r1856 | dcl | 2007-04-16 10:46:55 +1000 (Mon, 16 Apr 2007) | 2 lines
 2012-11-15 13:14:52 +11:00
Douglas Clowes
57a2cff61c typo 
r1850 | dcl | 2007-04-12 17:08:41 +1000 (Thu, 12 Apr 2007) | 2 lines
 2012-11-15 13:14:32 +11:00
Douglas Clowes
a3ec8b98a0 First pass at Universal Unidirectional Motor Driving (UUMD) 
r1849 | dcl | 2007-04-12 16:59:32 +1000 (Thu, 12 Apr 2007) | 2 lines
 2012-11-15 13:14:29 +11:00
Douglas Clowes
7363a846e1 motion is OK if motor has no absolute encoder 
r1844 | dcl | 2007-04-10 10:17:01 +1000 (Tue, 10 Apr 2007) | 2 lines
 2012-11-15 13:14:15 +11:00
Douglas Clowes
a7a480c5d1 Change stepsPerX and CountsPerX to float and revise PA calculation to avoid floting point limitation in GALIL 
r1841 | dcl | 2007-04-10 09:50:47 +1000 (Tue, 10 Apr 2007) | 2 lines
 2012-11-15 13:14:05 +11:00
Ferdi Franceschini
f0a3d8f18c Added "part" identifier for motors. It names the assembly which a motor belongs to, eg sample, crystal, filter. 
r1756 | ffr | 2007-03-31 13:33:54 +1000 (Sat, 31 Mar 2007) | 2 lines
 2012-11-15 13:12:06 +11:00
Douglas Clowes
495e84ef51 Change strcmp to strcasecmp to fix case sensitivity issue in hipadaba hget 
r1748 | dcl | 2007-03-30 18:40:48 +1000 (Fri, 30 Mar 2007) | 2 lines
 2012-11-15 13:11:39 +11:00
Ferdi Franceschini
d80bf8306e Disable GetDriverTextPar 
r1729 | ffr | 2007-03-27 13:32:46 +1000 (Tue, 27 Mar 2007) | 2 lines
 2012-11-15 13:10:38 +11:00
Douglas Clowes
3a5e8ed7e1 Add ActionRoutine hook to motor object 
r1728 | dcl | 2007-03-27 13:16:08 +1000 (Tue, 27 Mar 2007) | 2 lines
 2012-11-15 13:10:34 +11:00
Douglas Clowes
f283ec6968 Change from RS232Controller to MultiChan 
r1711 | dcl | 2007-03-23 18:51:15 +1100 (Fri, 23 Mar 2007) | 2 lines
 2012-11-15 13:09:48 +11:00
Douglas Clowes
96b8a1aee6 Fixing blocked motor detection 
r1710 | dcl | 2007-03-23 18:43:43 +1100 (Fri, 23 Mar 2007) | 2 lines
 2012-11-15 13:09:45 +11:00
Douglas Clowes
082355318f Refactoring, reduce duplicate code, eliminate obsolete code. 
Fix a few bugs.
Improve blocked motor detection code.
Align with MultiChan version

r1708 | dcl | 2007-03-23 18:06:20 +1100 (Fri, 23 Mar 2007) | 5 lines
 2012-11-15 13:09:39 +11:00
Douglas Clowes
181dc85f14 Differentiate between motion control off and unknown 
r1693 | dcl | 2007-03-21 17:36:30 +1100 (Wed, 21 Mar 2007) | 2 lines
 2012-11-15 13:08:53 +11:00
Ferdi Franceschini
ad7d24aea2 Added "DMC2280GetTextPar" implementation of the new motor driver GetDriverTextPar function. 
This refactoring is moving towards the goal in SICS-10 on Jira.

r1678 | ffr | 2007-03-20 11:24:36 +1100 (Tue, 20 Mar 2007) | 3 lines
 2012-11-15 13:08:05 +11:00
Douglas Clowes
7527e7f6f3 Allow thread status to be queried and homerun for motors without absolute ebcoder 
r1619 | dcl | 2007-03-09 12:34:37 +1100 (Fri, 09 Mar 2007) | 2 lines
 2012-11-15 13:05:20 +11:00
Douglas Clowes
74e8db377d Make the motion control test tighter, remove some obsolete code, and resolve some compilation warnings 
r1565 | dcl | 2007-03-02 08:27:14 +1100 (Fri, 02 Mar 2007) | 2 lines
 2012-11-15 13:02:38 +11:00
Douglas Clowes
992c9c4902 Handle the case where motion control is not enabled on the panel. This is regarded as a hardware fault for all DMC2280 motors. 
r1563 | dcl | 2007-03-01 09:09:32 +1100 (Thu, 01 Mar 2007) | 2 lines
 2012-11-15 13:02:32 +11:00
Douglas Clowes
b043246eac Parameterise the motion checks for detecting blocked motors 
r1544 | dcl | 2007-02-22 16:42:12 +1100 (Thu, 22 Feb 2007) | 2 lines
 2012-11-15 13:01:38 +11:00
Douglas Clowes
3c672d622a Airpads, Debug, Motor Off Delay, remove "define position" (DP) command, changeing blockage detection. 
r1535 | dcl | 2007-02-21 14:55:51 +1100 (Wed, 21 Feb 2007) | 2 lines
 2012-11-15 13:01:12 +11:00
Ferdi Franceschini
df6951404e Removed troublesome Tcl function declarations. 
r1525 | ffr | 2007-02-20 15:57:10 +1100 (Tue, 20 Feb 2007) | 2 lines
 2012-11-15 13:00:46 +11:00
Douglas Clowes
0a45b7d076 make arguments const 
r1507 | dcl | 2007-02-19 12:26:46 +1100 (Mon, 19 Feb 2007) | 2 lines
 2012-11-15 12:59:56 +11:00
Ferdi Franceschini
634f2023b1 Modified during MK's visit. 
r1462 | ffr | 2007-02-12 12:06:19 +1100 (Mon, 12 Feb 2007) | 2 lines
 2012-11-15 12:57:55 +11:00
Ferdi Franceschini
6e3fc65d92 Fixed halt bug. 
Cause: The DC command is invalid with PA moves.

r1213 | ffr | 2006-11-01 15:58:44 +1100 (Wed, 01 Nov 2006) | 3 lines
 2012-11-15 12:50:15 +11:00
Ferdi Franceschini
4f5ed50c91 Use lowercase attribute names because SICS uses lowercase internally. 
Allow use of named ports.

r1150 | ffr | 2006-10-16 09:28:49 +1000 (Mon, 16 Oct 2006) | 3 lines
 2012-11-15 12:48:35 +11:00
Ferdi Franceschini
1fb33a1d2e Added "setpos" method to motors 
r1099 | ffr | 2006-09-01 14:46:44 +1000 (Fri, 01 Sep 2006) | 2 lines
 2012-11-15 12:46:48 +11:00
Ferdi Franceschini
ffd898cf16 Only allow managers to set hard limits and home position. 
r1085 | ffr | 2006-08-27 15:43:51 +1000 (Sun, 27 Aug 2006) | 2 lines
 2012-11-15 12:46:32 +11:00
Ferdi Franceschini
f2ca9eeb21 Keep the last error message. 
r1076 | ffr | 2006-08-25 12:17:32 +1000 (Fri, 25 Aug 2006) | 2 lines
 2012-11-15 12:46:10 +11:00
Ferdi Franceschini
ab368d47a7 Dynamically allocate errmsg buffer. 
Don't overwrite errorcode from read char fn.

r1057 | ffr | 2006-08-10 16:50:39 +1000 (Thu, 10 Aug 2006) | 3 lines
 2012-11-15 12:46:01 +11:00
Ferdi Franceschini
497fe0e060 Fixed null dereference in DMC2280Connect 
r1053 | ffr | 2006-08-10 11:46:44 +1000 (Thu, 10 Aug 2006) | 2 lines
 2012-11-15 12:45:52 +11:00
Ferdi Franceschini
69b09fe0fd Removed connection object reference from data structure, can't use it. 
r1035 | ffr | 2006-08-01 13:09:41 +1000 (Tue, 01 Aug 2006) | 2 lines
 2012-11-15 12:45:17 +11:00
Ferdi Franceschini
a7ebdff308 Created anstoutil to share the getParam function. 
Modified motor_dmc2280 and counterdiv to use anstoutil

r1033 | ffr | 2006-07-25 16:48:14 +1000 (Tue, 25 Jul 2006) | 3 lines
 2012-11-15 12:45:13 +11:00
Ferdi Franceschini
d72d0b9905 Now using tolerance to compensate for backlash instead of the CLSLOOP code. 
Added convenience function to get acceleration and speed from the controller.

r1025 | ffr | 2006-07-13 14:46:41 +1000 (Thu, 13 Jul 2006) | 3 lines
 2012-11-15 12:45:00 +11:00
Ferdi Franceschini
400871d6da Save power by switching motors off after a move, controlled by the nopowersave parameter. 
Don't resend move command if motor is busy.

r1023 | ffr | 2006-06-22 09:20:43 +1000 (Thu, 22 Jun 2006) | 3 lines
 2012-11-15 12:44:55 +11:00
Ferdi Franceschini
5f62768d59 Eliminated all warnings from splint standard error checking. 
r1017 | ffr | 2006-06-02 16:44:02 +1000 (Fri, 02 Jun 2006) | 2 lines
 2012-11-15 12:44:53 +11:00
Ferdi Franceschini
38b6e44306 There are now zero warnings for weak checking with splint. 
Reduced number of splint standard check warnings to 4

r1016 | ffr | 2006-06-01 17:07:33 +1000 (Thu, 01 Jun 2006) | 3 lines
 2012-11-15 12:44:51 +11:00
Ferdi Franceschini
52b57c96cd Added more doxygen documentation. Fixed compile errors. 
r1011 | ffr | 2006-05-30 16:49:01 +1000 (Tue, 30 May 2006) | 2 lines
 2012-11-15 12:44:49 +11:00
Ferdi Franceschini
ae91e9ab5b Adding doxygen documentation and splint tags. 
r1005 | ffr | 2006-05-26 16:58:46 +1000 (Fri, 26 May 2006) | 2 lines
 2012-11-15 12:44:44 +11:00
Ferdi Franceschini
81359a740f Added to repository. 
r986 | ffr | 2006-05-09 09:17:15 +1000 (Tue, 09 May 2006) | 2 lines
 2012-11-15 12:44:13 +11:00