81554ee0d7
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
143 lines
2.8 KiB
Tcl
143 lines
2.8 KiB
Tcl
source $cfPath(commands)/commands_common.tcl
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namespace eval motor {
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# is_homing_list = comma separated list of motors which are safe to send "home"
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variable is_homing_list ""
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}
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namespace eval ajscmds {
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namespace export SetRadColl SimpleRun SimpleScan RadCollRun RadCollTimed RadCollScan
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# SetRadColl
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command SetRadColl {
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float time
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float range
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} {
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catch {
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#ffr Changed 0.5 to 0.2 on 30/06/2014 because
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# oct hits upper limit switch at about 1.27 degrees
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# with new "oct oscillate" command.
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#dcl Removed 0.2 because old osc limits it to +/-1.0
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oct oscillate_low [expr -abs($range/2.0)]
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oct oscillate_high [expr abs($range/2.0)]
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set spd [expr 2.0*$range / $time]
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oct maxretry 5
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oct accel 0.25
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oct speed 0.25
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oct decel 0.25
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drive oct [expr abs($range/2.0)]
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oct speed $spd
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oct accel [expr $spd*5]
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oct decel [expr $spd*5]
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oct maxretry 0
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} msg
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clientput $msg
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}
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# SimpleRun
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command SimpleRun {
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float=0:inf steptime
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int=1:inf numsteps
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} {
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# RadCollOff
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histmem mode time
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histmem preset $steptime
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newfile HISTOGRAM_XY
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for {set i 0} {$i < $numsteps} {incr i} {
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hmm countblock
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save $i
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}
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}
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# SimpleScan
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command SimpleScan {
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text=drivable motor
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float start
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float step
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int=1:inf numsteps
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float=0:inf steptime
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} {
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# RadCollOff
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histmem mode time
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histmem preset $steptime
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newfile HISTOGRAM_XY
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for {set i 0} {$i < $numsteps} {incr i} {
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drive $motor [expr $i*$step+$start]
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hmm countblock
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save $i
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}
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}
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# RadCollRun
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command RadCollRun {
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int=1:inf oscno
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int=1:inf reps
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} {
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# RadCollOn $oscno
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histmem mode unlimited
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newfile HISTOGRAM_XY
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for {set i 0} {$i < $reps} {incr i} {
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oct oscillate_count $oscno
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oct oscillate start
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hmm countblock
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save $i
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}
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# RadCollOff
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}
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# RadCollTimed
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command RadCollTimed {
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int=1:inf oscno
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float=0:inf time
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} {
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RadCollOn $oscno
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set tim1 [clock seconds]
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histmem mode unlimited
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newfile HISTOGRAM_XY
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set bool 0
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set i 0
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set timsecs [expr $time*60]
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while {$bool == 0} {
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histmem start block
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save $i
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incr i
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set tim2 [expr [clock seconds] - $tim1]
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if {$tim2 > $timsecs} {set bool 1}
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}
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RadCollOff
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}
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# RadCollScan
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command RadCollScan {
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text=drivable motor
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float start
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float step
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int=1:inf numsteps
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int=1:inf oscno
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} {
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# RadCollOn $oscno
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histmem mode unlimited
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newfile HISTOGRAM_XY
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for {set i 0} {$i < $numsteps} {incr i} {
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drive $motor [expr $i*$step+$start]
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oct oscillate_count $oscno
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oct oscillate start
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hmm countblock
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save $i
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}
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# RadCollOff
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}
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}
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namespace import ::ajscmds::*
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publish SetRadColl user
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publish SimpleRun user
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publish SimpleScan user
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publish RadCollRun user
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publish RadCollTimed user
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publish RadCollScan user
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proc ::commands::isc_initialize {} {
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::commands::ic_initialize
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}
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