77 lines
1.6 KiB
Tcl
77 lines
1.6 KiB
Tcl
# This must be loaded by motor_configuration.tcl
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set ephi_Home 26575217
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#set echi_Home 24224381
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#set echi_Home 8919294
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set echi_Home 24207159
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set eom_Home 23165482
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# Sample Lower Tilt sgl -> Euler Chi
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Motor echi $motor_driver_type [params \
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asyncqueue mc2\
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axis B\
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units degrees\
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hardlowerlim -45\
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hardupperlim 120\
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maxSpeed 2\
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maxAccel 2\
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maxDecel 2\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $echi_Home\
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cntsPerX 8192]
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setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
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echi softlowerlim -10
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echi softupperlim 120
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echi home 0
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echi speed 1
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echi movecount $move_count
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echi precision 0.01
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echi part sample
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echi long_name euler_chi
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# Sample Upper Tilt sgu -> Euler Phi
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Motor ephi $motor_driver_type [params \
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asyncqueue mc2\
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axis A\
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units degrees\
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hardlowerlim -365\
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hardupperlim 365\
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maxSpeed 5\
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maxAccel 5\
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maxDecel 5\
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stepsPerX -12500\
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absEnc 1\
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absEncHome $ephi_Home\
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cntsPerX -4096]
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setHomeandRange -motor ephi -home 0 -lowrange -360 -uprange 360
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ephi softlowerlim -360
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ephi softupperlim 360
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ephi home 0
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ephi speed 3
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ephi movecount $move_count
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ephi precision 0.01
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ephi part sample
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ephi long_name euler_phi
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# Sample Upper Translation stu -> euler omega stage
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Motor eom $motor_driver_type [params \
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asyncqueue mc2\
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axis C\
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units degrees\
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hardlowerlim -45\
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hardupperlim 80\
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maxSpeed 2\
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maxAccel 2\
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maxDecel 2\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $eom_Home\
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cntsPerX -8192]
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setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80
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eom speed 1
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eom movecount $move_count
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eom precision 0.01
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eom part sample
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eom long_name euler_omega
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