165f1b90a4
Lakeshore controllers will be connected to the ca5-[instrument] moxa box Default config parameters are now available via a tc_dfltPar array IP and socket number are now mandatory when creating an ls340 object hrpd/.../lakeshore340.tcl Multiple lakeshores can now be added to the hdb tree echidna_configuration.tcl Provide example for configuring two lakeshores SICS-134 reflectometer/../commands.tcl First draft of beam/attenuator command, currently sends POS=xx (this won't work) reflectometer/../motor_configuration.tcl Add bat position feedback via action sans/../motor_configuration.tcl Renamed action parameter (aoid) to "action" server_config.tcl Initialise motor movecount to 500 to reduce number of position updates by a factor of 50 SICS-134 action.c Update the beam/attenuator command feedback variable when POS changes. SICS-134 motor_dmc2280.c Added PLP:BAT:POS status response handler for platypus bat position updates Only send IDLE state position updates if position change is greater than the precision. Rename action parameter (aoid) to "action" r2679 | ffr | 2008-08-19 15:11:55 +1000 (Tue, 19 Aug 2008) | 31 lines
290 lines
10 KiB
Tcl
290 lines
10 KiB
Tcl
source $cfPath(commands)/commands_common.tcl
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namespace eval motor {
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# is_homing_list = comma separated list of motors which are safe to send "home"
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variable is_homing_list ""
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}
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namespace eval beam {
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command attenuator {text=in,out,osc pos} {
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switch $pos {
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"in" {
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bat send POS=0
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}
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"out" {
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bat send POS=-1
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}
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"osc" {
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bat send POS=1
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}
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default {
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return -code error "ERROR: valid values are in, out, osc"
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}
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}
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}
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}
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::beam::attenuator -addfb text BeamAttenuator
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namespace eval exp_mode {
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variable valid_modes
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variable guide_for_mode ;#guide element for a specific mode
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variable c1ht_pos
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#0=polarisation
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#1=mt
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#2=focussing
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#3=DB
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#4=Single
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variable c1ht_pos
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set valid_modes [list SB DB FOC MT POL]
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set c1ht_pos [list 1057 806.7 557.1 200 200]
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command set_mode "text=[join $valid_modes ,] arg " { ;#need to change all softzero's
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global ::exp_mode::valid_modes
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if {[lsearch $::exp_mode::valid_modes $arg] == -1} {
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Clientput "Mode is: $::exp_mode::valid_modes - (polarisation,mt,focussing,DB,single)"
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return -code error "Mode is: $::exp_mode::valid_modes - (polarisation,mt,focussing,DB,single)"
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} else {
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if { [catch {::exp_mode::set_guide_element $arg} errMsg] } {
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Clientput $errMsg
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return -code error $errMsg
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}
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mode $arg
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}
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omega -1
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twotheta -1
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return -code ok
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}
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command omega_2theta { float arg1 float arg2 } {
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#need to set omega first. This is because
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#for Single bounce the twotheta positions depend on the angle of incidence
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if {[catch {::exp_mode::set_omega $arg1} errMsg]} {return -code error $errMsg}
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if {[catch {::exp_mode::set_two_theta $arg2} errMsg]} {return -code error $errMsg}
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return -code ok
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}
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}
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##
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# @brief Drive c1ht and set guide_element parameter
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#
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# @param arg is the user mode
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proc ::exp_mode::set_guide_element { arg } {
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global ::exp_mode::c1ht_pos
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global ::exp_mode::valid_modes
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if {[lsearch $::exp_mode::valid_modes $arg] == -1} {
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Clientput "Mode is: $::exp_mode::valid_modes - (polarisation,mt,focussing,DB,single)"
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return -code error "Mode is: $::exp_mode::valid_modes - (polarisation,mt,focussing,DB,single)"
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}
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if {[catch {::exp_mode::checkMotionAndDrive c1ht [lindex $c1ht_pos [lsearch $::exp_mode::valid_modes $arg]]} errMsg]} {
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return -code error $errMsg
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} else {
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guide_element $arg
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return -code ok
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}
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}
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proc ::exp_mode::set_omega { arg } {
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set expmode [SplitReply [mode]]
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if {[lsearch $::exp_mode::valid_modes $expmode] == -1} {
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Clientput "Please set the mode first"
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return -code error "Please set the mode first"
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}
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if {$arg<0} {
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return -code error "omega must be greater than 1"
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}
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if {[catch {::exp_mode::set_guide_element $expmode} errMsg]} {
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return -code error $errMsg ;#make sure the guide element is moved.
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}
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set argrad [deg2rad $arg] ;#position in radians
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switch $expmode {
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SB {
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if {[catch {::exp_mode::checkMotionAndDrive m1ro [expr $arg/2.]} errMsg]} {return -code error $errMsg}
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set d1 [expr [SplitReply [slit3_distance]] - [SplitReply [guide1_distance]]]
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set d2 [expr [SplitReply [sample_distance]] - [SplitReply [guide1_distance]]]
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set h1 [expr -1. * $d1 * tan($argrad)]
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set h2 [expr -1. * $d2 * tan($argrad)]
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if {[catch {checkMotionAndDrive st3vt $h1} errMsg]} {return -code error $errMsg}
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if {[catch {checkMotionAndDrive sz $h2} errMsg]} {return -code error $errMsg}
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}
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DB {
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return -code error "ERROR: set_omega not yet defined for DB"
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set temp [deg2rad 2.4]
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set offset [expr 600*sin($temp)]
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set arg 4.8 ;#fixed angle
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set d1 [expr [SplitReply [slit3_distance]] - [SplitReply [guide2_distance]]]
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set d2 [expr [SplitReply [sample_distance]] - [SplitReply [guide2_distance]]]
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set h1 [expr -1. * $d1 * tan($argrad) - $offset]
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set h2 [expr -1. * $d1 * tan($argrad) - $offset]
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if { [catch {checkMotionAndDrive st3vt $h1} errMsg]} {return -code error $errMsg}
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if { [catch {checkMotionAndDrive sz $h2} errMsg]} {return -code error $errMsg}
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}
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FOC {
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if { [catch {checkMotionAndDrive sth $arg} errMsg]} {return -code error $errMsg}
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}
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MT {
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if { [catch {checkMotionAndDrive sth $arg} errMsg]} {return -code error $errMsg}
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}
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default {
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return -code error "omega driving not specified for that mode"
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}
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}
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omega $arg
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return -code ok
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}
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publish ::exp_mode::set_omega user
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proc ::exp_mode::set_two_theta { arg } {
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set expmode [SplitReply [mode]]
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set expomega [SplitReply [omega]]
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if {[lsearch $::exp_mode::valid_modes $expmode] == -1} {
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return -code error "please set the mode and omega first"
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}
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if {$expomega == "NaN"} {
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return -code error "please set omega first"
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}
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if {$arg<0} {
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return -code error "two_theta is less than 0"
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}
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set argrad [deg2rad $arg] ;#position in radians
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set omegarad [deg2rad $expomega]
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Clientput $expmode
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switch $expmode {
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SB {
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set d1 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
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set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [guide1_distance]]]
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set h1 [expr -1. * $d2 * tan($omegarad)]
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set b [expr $d1 / cos($omegarad)]
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set c [expr $d1 / cos($argrad-$omegarad)]
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set h2 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))]
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set d3 [expr [SplitReply [dy]]]
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set d4 [expr [SplitReply [dy]] + [SplitReply [sample_distance]] - [SplitReply [guide1_distance]]]
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set h3 [expr -1. * $d4 * tan($omegarad)]
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set b [expr $d3 / cos($omegarad)]
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set c [expr $d3 / cos($argrad-$omegarad)]
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set h4 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))]
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if { [catch {checkMotionAndDrive dz [expr $h3 + $h4]} errMsg]} {return -code error $errMsg}
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if { [catch {checkMotionAndDrive st4vt [expr $h2 + $h1]} errMsg]} {return -code error $errMsg}
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}
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DB {
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return -code error "ERROR: set_omega not yet defined for DB"
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set temp [deg2rad 2.4]
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set offset [expr 600*sin($temp)]
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set expomega 4.8
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set omegarad [deg2rad $expomega]
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set d1 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
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set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [guide2_distance]]]
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set h1 [expr -1. * $d2 * tan($omegarad) - $offset]
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set b [expr $d1 / cos($omegarad)]
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set c [expr $d1 / cos($argrad-$omegarad)]
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set h2 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))]
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set d3 [expr [SplitReply [dy]]]
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set d4 [expr [SplitReply [dy]] + [SplitReply [sample_distance]] - [SplitReply [guide2_distance]]]
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set h3 [expr -1. * $d4 * tan($omegarad) - $offset]
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set b [expr $d3 / cos($omegarad)]
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set c [expr $d3 / cos($argrad-$omegarad)]
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set h4 [expr sqrt(pow($b,2) + pow($c,2) - 2*$b*$c*cos($argrad))]
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if { [catch {checkMotionAndDrive dz [expr $h3 + $h4]} errMsg]} {return -code error $errMsg}
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if { [catch {checkMotionAndDrive st4vt [expr $h2 + $h1]} errMsg]} {return -code error $errMsg}
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}
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FOC {
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set d1 [SplitReply [dy]]
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set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
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set h1 [expr $d1 * tan($argrad)]
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set h2 [expr $d2 * tan($argrad)]
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if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
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if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
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}
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MT {
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set d1 [SplitReply [dy]]
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set d2 [expr [SplitReply [slit4_distance]] - [SplitReply [sample_distance]]]
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set h1 [expr $d1 * tan($argrad)]
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set h2 [expr $d2 * tan($argrad)]
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if { [catch {checkMotionAndDrive dz $h1} errMsg]} {return -code error $errMsg}
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if { [catch {checkMotionAndDrive st4vt $h2} errMsg]} {return -code error $errMsg}
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}
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default {
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return -code error "two_theta not defined for that mode: $expmode"
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}
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}
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twotheta $arg
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return -code ok
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}
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publish ::exp_mode::set_two_theta user
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proc ::exp_mode::checkMotion { scan_variable target } {
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set motor_list [sicslist type motor]
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if {[lsearch $motor_list $scan_variable]==-1} {
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return -code error "you tried to drive a motor that doesn't exist"
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}
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if {[catch {
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::scan::check_limit $scan_variable hardlowerlim $target
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::scan::check_limit $scan_variable hardupperlim $target
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::scan::check_limit $scan_variable softlowerlim $target
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::scan::check_limit $scan_variable softupperlim $target
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}]} {
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return -code error $::errorInfo
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}
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return -code ok
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}
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publish ::exp_mode::checkMotion user
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proc ::exp_mode::checkMotionAndDrive { scan_variable target } {
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set motor_list [sicslist type motor]
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#lappend motorlist [sicslist type configurablevirtualmotor]
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set precision [SplitReply [$scan_variable precision]]
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if {[catch {
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::exp_mode::checkMotion $scan_variable $target
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}]} {
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return -code error $::errorInfo
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} else {
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drive $scan_variable $target
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set position [SplitReply [$scan_variable]]
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if {[expr [expr $position-$target] > abs($precision)]} {
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return -code error "move of: $scan_variable did not reach required precision"
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} else {
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Clientput "New $scan_variable Position: $position"
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Clientput "Driving finished successfully"
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}
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return -code ok
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}
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}
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publish ::exp_mode::checkMotionAndDrive user
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proc ::exp_mode::deg2rad { arg } {
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set pi 3.1415926535897931
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return [expr $pi * $arg / 180.]
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}
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proc ::exp_mode::rad2deg { arg } {
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set pi 3.1415926535897931
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return [expr 180. * $arg / $pi]
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}
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##
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# @brief Commands initialisation procedure
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proc ::commands::isc_initialize {} {
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::commands::ic_initialize
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}
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