d7cea6914c
You can now run the oscillating collimator for a specified number of cycles. A MOTEND event is now sent when the oscillator stops. Also temporarily set status to eEager to allow changing the motor accesscode parameter while something else is running, (eg a counter) motor.c finishDriving is no longer static so we can call it from the oscilator and generate a MOTEND event. west4100.c Return 'success' from wrapper on "controlsensor" and "sensorlist" queries so we can test and capture their values in scripts. Makefile Compile the quokka beamstopaction object site_ansto.c Add the MakeActionObject command. Currently only makes the hardcoded beamstopaction object obpar.c Report object name and parameter on an illegal attempt to set a parameter hmm_configuration_common_1.tcl Add oscillating collimator control flag for Wombat. If true we use hmm to start the histogram server instead of hmc. TODO remove hmc and always use hmm. hipd/config/motors/motor_configuration.tcl Don't load anticollider config twice. Fix oct limits wombat_configuration.tcl Environment configuration must be loaded before running server_init. hrpd/config/hmm/hmm_configuration.tcl Fix default time-bin to match 10Hz frame frequency hrpd/config/motors/motor_configuration.tcl Added dummy motor for testing. reflectometer/config/hmm/detector.tcl Fill in dhv1 configuration parameters. sans/config/hmm/detector.tcl Enable detector voltage control sans/config/hmm/hmm_configuration.tcl SICS-227 set default resolution to 192x192 sans/config/motors/motor_configuration.tcl Added dummy motor for testing quokka parameters.tcl Fix L2mm calculation, Fix SICS-228 users cannot set rotapdeg beamstopaction.[ch] NEW: Implements an action command to drive the quokka beamstops up and down. r2670 | ffr | 2008-08-07 13:17:29 +1000 (Thu, 07 Aug 2008) | 53 lines
76 lines
2.9 KiB
C
76 lines
2.9 KiB
C
/*--------------------------------------------------------------------------
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SICS needs to run motors. This is where this happens.
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Mark Koennecke, November 1996
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copyright: see implementation file
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----------------------------------------------------------------------------*/
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#ifndef SICSMOTOR
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#define SICSMOTOR
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#include "Scommon.h"
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#include "obpar.h"
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#include "modriv.h"
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#include "obdes.h"
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#include "interface.h"
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#define MOTOBPARLENGTH 12
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typedef struct __Motor {
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pObjectDescriptor pDescriptor;
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ObPar *ParArray;
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pIDrivable pDrivInt;
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pICallBack pCall;
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ObjectFunc pActionRoutine;
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char *drivername;
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char *name;
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MotorDriver *pDriver;
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float fTarget;
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float fPosition;
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long endScriptID;
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int posCount; /* counter for calling the
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motor callback */
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int retryCount; /* for retries in status */
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int posFaultCount;
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int stopped;
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} Motor;
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typedef Motor *pMotor;
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/*------------------------------------------------------------------------
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a tiny structure used in CallBack work
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--------------------------------------------------------------------------*/
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typedef struct {
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float fVal;
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char *pName;
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} MotCallback;
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/*-------------------------------------------------------------------------*/
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/* parameter management */
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int MotorGetPar(pMotor self, char *name, float *fVal);
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int MotorSetPar(pMotor self, SConnection *pCon, char *name, float fVal);
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/* driving */
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long MotorRun(void *self, SConnection *pCon, float fNew);
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int MotorCheckBoundary(pMotor self, float fVal, float *fHard,
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char *error, int iErrLen);
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int MotorCheckPosition(void *self, SConnection *pCon);
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/* Where are we ? */
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int MotorGetSoftPosition(pMotor self,SConnection *pCon, float *fVal);
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int MotorGetHardPosition(pMotor self,SConnection *pCon, float *fVal);
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float MotorHardToSoftPosition(pMotor self, float fHard);
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/* creation */
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int MotorCreate(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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pMotor MotorInit(char *drivername,char *name, MotorDriver *pDriv);
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void MotorKill(void *self);
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/* interface to interpreter */
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int MotorAction(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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pMotor FindMotor(SicsInterp *pSics, char *name);
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/* Made available to oscillate.c to generate MOTEND event. Ferdi */
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void finishDriving(pMotor self, SConnection *pCon);
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#endif
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