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8fb864ee375566f08aad46b0b0c74a15f4af5f8b
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77 Commits

Author SHA1 Message Date
Ferdi Franceschini
0749b0effa Merging release 2.0 branch with CVS trunk 
r2601 | ffr | 2008-05-30 10:26:57 +1000 (Fri, 30 May 2008) | 2 lines
 2012-11-15 13:38:17 +11:00
Douglas Clowes
a0684a033e cleanups and add encoder bias code 
r2592 | dcl | 2008-05-29 14:52:41 +1000 (Thu, 29 May 2008) | 2 lines
 2012-11-15 13:37:40 +11:00
Douglas Clowes
445a332370 Set Motor status to HWBusy in State_Unknown 
Discard outstanding message response on entering State_Unknown (timing window)
Don't break if it times out while waiting
Defer various faults until motor has stopped
Rename absenc to absencoder in list command (if has encoder)
Modify absenc to report integer encoder value
Allow manager to set various sensitive values in motor debug mode
Make motor "reset" command wait until motor reinitialised (timing window)

r2520 | dcl | 2008-05-12 11:05:35 +1000 (Mon, 12 May 2008) | 9 lines
 2012-11-15 13:36:53 +11:00
Douglas Clowes
f7d9d06484 implement motor "trace_switches" command 
r2507 | dcl | 2008-05-08 16:47:34 +1000 (Thu, 08 May 2008) | 2 lines
 2012-11-15 13:36:37 +11:00
Douglas Clowes
c7794c4092 Speed up the idle slow poll timer to make it more responsive to changes in position while idle. 
r2506 | dcl | 2008-05-07 10:19:26 +1000 (Wed, 07 May 2008) | 2 lines
 2012-11-15 13:36:33 +11:00
Douglas Clowes
a143b9905e Change state transition on limit switch event to ensure that motor is stopped before turning it off. 
r2505 | dcl | 2008-05-07 10:14:28 +1000 (Wed, 07 May 2008) | 2 lines
 2012-11-15 13:36:29 +11:00
Douglas Clowes
355cd532cf Improved logging for motion characterisation of motors. 
Reject NaN and Infinity in run command.
Change error message for both limit switches active.
Check status of BG command in case it failed.

r2482 | dcl | 2008-04-24 12:08:03 +1000 (Thu, 24 Apr 2008) | 5 lines
 2012-11-15 13:35:50 +11:00
Douglas Clowes
a0c6945bb6 implement settle timer on creep positioning 
detect position overrun error and stop runaway motor
implement deferred fault reporting until after motor stopped
save and report timer period in debug output (DMC_SetTimer)
handle leading '-' on numeric galil response
more comment documentation
remove unused variables

r2423 | dcl | 2008-04-14 09:38:41 +1000 (Mon, 14 Apr 2008) | 8 lines
 2012-11-15 13:34:44 +11:00
Douglas Clowes
04568a34f2 Bugfixes from commissioning. Use _SCx, send STx and HLTx=1. Fix missing TRACE output. Change 'has_airpads' to 'protocol'. 
r2389 | dcl | 2008-03-10 08:19:23 +1100 (Mon, 10 Mar 2008) | 2 lines
 2012-11-15 13:33:51 +11:00
Douglas Clowes
c97b23fbcb Fix some typos and add deferred state/event trace reporting 
r2365 | dcl | 2008-02-21 14:59:25 +1100 (Thu, 21 Feb 2008) | 2 lines
 2012-11-15 13:33:28 +11:00
Douglas Clowes
a095e0d6da Add 'encoderAxis' parameter so encoder can be on a different axis from the motor. 
r2360 | dcl | 2008-02-18 08:22:02 +1100 (Mon, 18 Feb 2008) | 2 lines
 2012-11-15 13:33:09 +11:00
Douglas Clowes
e3a9c18322 Accumulated changes including RUN and HALT command everywhere 
r2298 | dcl | 2008-01-30 13:38:29 +1100 (Wed, 30 Jan 2008) | 2 lines
 2012-11-15 13:32:46 +11:00
Douglas Clowes
c6ce627760 Make SEND managers only 
r2288 | dcl | 2008-01-21 09:56:27 +1100 (Mon, 21 Jan 2008) | 2 lines
 2012-11-15 13:32:38 +11:00
Douglas Clowes
c75e16d4bd Handle change to asyncqueue to handle binary protocols 
r2271 | dcl | 2008-01-15 12:25:16 +1100 (Tue, 15 Jan 2008) | 2 lines
 2012-11-15 13:31:34 +11:00
Douglas Clowes
3926e47ab5 Change floats to doubles, controller virtual motor variables, a little refactoring 
r2264 | dcl | 2007-12-07 10:38:34 +1100 (Fri, 07 Dec 2007) | 2 lines
 2012-11-15 13:31:08 +11:00
Douglas Clowes
2cb9e55f63 change counts and steps to integer for 31bit encoder handling 
r2255 | dcl | 2007-11-09 14:08:46 +1100 (Fri, 09 Nov 2007) | 2 lines
 2012-11-15 13:30:34 +11:00
Douglas Clowes
52a5be7c0d A bit of refactoring and a bug fix 
r2253 | dcl | 2007-11-09 09:49:19 +1100 (Fri, 09 Nov 2007) | 2 lines
 2012-11-15 13:30:26 +11:00
Ferdi Franceschini
1c181fb68f Handle INT1712 1 interrupts in MotorOn state. This can happen if you abort an operation during a posfault retry or immediately after a run/drive command. 
Handle TimeOut events during Idle state.  These have been observed to occur when a scan skips a point because of a drive failure.

r2237 | ffr | 2007-11-07 15:41:21 +1100 (Wed, 07 Nov 2007) | 4 lines
 2012-11-15 13:29:25 +11:00
Douglas Clowes
ebf70bfe5c Bug fixes and improved error handling, more on controller variables 
r2232 | dcl | 2007-11-06 08:50:18 +1100 (Tue, 06 Nov 2007) | 2 lines
 2012-11-15 13:29:07 +11:00
Douglas Clowes
9c307402cc Fix a couple of typos, reimplement thread zero checks and amplifier error checks. (Disable amplifier error checks pending controllers returning good status for all OK motors.) 
r2187 | dcl | 2007-10-22 13:26:54 +1000 (Mon, 22 Oct 2007) | 2 lines
 2012-11-15 13:26:20 +11:00
Douglas Clowes
a4d7cb12cc Begin migration of motor positions from encoder counts to motor units (mm/degree) 
r2185 | dcl | 2007-10-17 08:36:19 +1000 (Wed, 17 Oct 2007) | 2 lines
 2012-11-15 13:26:13 +11:00
Douglas Clowes
5d311bf61f A bit more rationalisation 
r2183 | dcl | 2007-10-11 18:00:02 +1000 (Thu, 11 Oct 2007) | 2 lines
 2012-11-15 13:26:05 +11:00
Douglas Clowes
dc266a1c92 convert 'send' arguments to upper case and substitute '%' and '`' with axis_label 
r2169 | dcl | 2007-10-02 12:41:34 +1000 (Tue, 02 Oct 2007) | 2 lines
 2012-11-15 13:25:14 +11:00
Douglas Clowes
efb0b117f6 POSIT handling code for position-mode motors and a little refactoring 
r2155 | dcl | 2007-09-26 09:50:53 +1000 (Wed, 26 Sep 2007) | 2 lines
 2012-11-15 13:24:24 +11:00
Douglas Clowes
77657615e6 MAJOR changes: remove deprecated pre state machine code, revise state transitions, add state entry events, part of the RUNx implementation, comments, .... 
r2106 | dcl | 2007-08-10 10:32:40 +1000 (Fri, 10 Aug 2007) | 2 lines
 2012-11-15 13:21:28 +11:00
Douglas Clowes
18ab7a86b8 Before removal of deprecated code 
r2102 | dcl | 2007-08-02 08:06:01 +1000 (Thu, 02 Aug 2007) | 2 lines
 2012-11-15 13:21:14 +11:00
Douglas Clowes
d27a9cb9b6 periodically poll and update the motor position, specifically for hipadaba, to capture motion that is not commanded (e.g. homing slit motors and turning motors by hand) 
r2029 | dcl | 2007-06-27 10:58:42 +1000 (Wed, 27 Jun 2007) | 2 lines
 2012-11-15 13:19:52 +11:00
Douglas Clowes
d785f48aa7 Change Flight Tube to use REQx/RSPx instead of FTUBE/APDONE variables. Now workks for RSD Sample raise dual motor as well. 
Move DMC_Notify and reset state machine on reconnect.

r1996 | dcl | 2007-06-01 16:50:24 +1000 (Fri, 01 Jun 2007) | 3 lines
 2012-11-15 13:19:10 +11:00
Douglas Clowes
9438dc0973 Add some logging, comments, report unhandled events in the state machine. 
Limit the state and trace commands to motors with finite state machines.

r1988 | dcl | 2007-05-25 16:19:37 +1000 (Fri, 25 May 2007) | 3 lines
 2012-11-15 13:18:43 +11:00
Douglas Clowes
785fe7bb96 Memory cleanup 
r1980 | dcl | 2007-05-24 14:49:02 +1000 (Thu, 24 May 2007) | 2 lines
 2012-11-15 13:18:16 +11:00
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