59 lines
1.6 KiB
Tcl
59 lines
1.6 KiB
Tcl
makeasyncqueue acq ORHVPS 137.157.202.85 4001
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evfactory new dhv1 orhvps acq
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dhv1 lowerlimit 0
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dhv1 upperlimit 2400
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dhv1 tolerance 19
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dhv1 max 2400
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dhv1 rate 10
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proc TrimReply { str } {
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set reply [string trim $str " :"]
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return $reply
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}
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proc pop { which } {
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set down { -1 1 -1 1 1 }
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set speed 50000
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set motions { 0 0 0 0 0 }
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set indices { 0 1 2 3 4 }
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set motors { BS1 BS2 BS3 BS4 BS5 }
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if {($which < 1)||($which > [llength $indices])} {
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clientput "Pop must be between 1 and [llength $indices]"
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return
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}
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incr which -1
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foreach i $indices {
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lset motions $i [expr $speed * [lindex $down $i]]
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}
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lset motions $which [expr -1 * [lindex $motions $which]]
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foreach i $indices { [lindex $motors $i] send SH` }
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foreach i $indices { [lindex $motors $i] send JG`=[lindex $motions $i] }
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foreach i $indices { [lindex $motors $i] send BG` }
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set x 0
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set started [clock seconds]
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while { $x == 0 } {
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set x 1
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set current [clock seconds]
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foreach i $indices {
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if { [TrimReply [[lindex $motors $i] send MG _BG`]] > 0 } {
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set x 0
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if { ([expr $current - 60] > $started) } {
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clientput [lindex $motors $i] send ST`
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[lindex $motors $i] send ST`
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}
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}
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}
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}
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foreach i $indices {
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set forward [TrimReply [[lindex $motors $i] send MG _LF`]]
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set reverse [TrimReply [[lindex $motors $i] send MG _LR`]]
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if { [expr $forward * $reverse] > 0 } {
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clientput "[lindex $motors $i] is between limits"
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}
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}
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clientput "POP [expr $which + 1] took [expr $current -$started] seconds"
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}
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publish pop user
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