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
Douglas Clowes
66caf6916b
Don't change anything on startup, defer settings until moving and then do each time
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We don't want to change anything on the controller when we start SICS so we don't interfere with whatever else is talking to it. So don't command it during init.
We also want to send Speed, Accel and Decel on each move so we defer those until then.
r3622 | dcl | 2012-06-28 15:39:47 +1000 (Thu, 28 Jun 2012) | 5 lines
2012-11-15 17:31:44 +11:00
Douglas Clowes
2c4f45b573
Try to defer HWIdle notification until the motor is really idle
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r3620 | dcl | 2012-06-27 15:11:04 +1000 (Wed, 27 Jun 2012) | 1 line
2012-11-15 17:31:39 +11:00
Douglas Clowes
eeac77f9ce
Refactor the timer clearing; force timer clear on set; improve the tracing of timer operations.
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r3616 | dcl | 2012-06-26 14:36:32 +1000 (Tue, 26 Jun 2012) | 1 line
2012-11-15 17:31:30 +11:00
