109 lines
2.7 KiB
Tcl
109 lines
2.7 KiB
Tcl
# $Revision: 1.2 $
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# $Date: 2006-10-15 23:37:29 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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# Requires a configuration array for each axis that you want to simulate.
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# eg
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#array set B [list AC 25000 TP 7827107 TD 25000 PA 25000 stepsperx 25000 cntsperx 8192 DC 25000 SP 25000]
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# The mkSimAxes.tcl script creates files with arrays like the example above.
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# Substitutes position values for _TDx and _TPx
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# then evaluates the expression.
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proc evaluate {args} {
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regsub -all {_T[DP][ABCDEFGH]} $args {[eval [parse &]]} expression;
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regsub -all {\d+} $expression {&.0} expression;
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return [uplevel #0 expr $expression];
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}
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proc dmset {cmd axis args} {
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set num [scan $args {%d} val];
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if {$num == 1} {
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set val $args;
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} else {
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set val [evaluate $args]
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}
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if {[string first $cmd "PA SP AC DC"] != -1} {
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uplevel #0 set ${axis}($cmd) $val;
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} else {
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uplevel #0 $cmd $axis $val;
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}
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}
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proc dmget {cmd axis} {
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uplevel #0 set ${axis}($cmd)
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}
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proc dmcall {cmd paxis} {
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upvar $paxis axis;
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uplevel #0 eval $cmd $paxis
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}
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proc DP {axis val} {
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uplevel #0 eval set ${axis}(TD) $val
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}
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proc TS {axis} {
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uplevel #0 eval set ${axis}(TS)
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}
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proc SH {args} {}
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proc MO {args} {}
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proc BG {_axis} {
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upvar #0 $_axis axis;
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set axis(TS) 140; # moving, limit switches open
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set timeStep 0.1; # seconds
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set target $axis(PA);
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set diff [expr $target - $axis(TD)];
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set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
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set step [expr $sign * $timeStep * $axis(SP) ];
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if {[expr abs($diff) < abs($step)]} {
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set step $diff;
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set timeStep [expr abs($step / $axis(SP))];
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}
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every [expr round($timeStep * 1000)] "nextstep $_axis $step $target"
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# set diff [expr $target - $axis(TD)];
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# set mult [expr $axis(cntsperx).0/$axis(stepsperx)];
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# set axis(TP) [expr round($diff*$mult + $axis(TP))];
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# set axis(TD) $target;
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}
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# Don't handle _XQ _HX
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proc MG {msg} {
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# If msg starts with _ then return val for axis
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if {[string index $msg 0] == "_"} {
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return [eval [parse $msg]];
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} else {
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return $msg;
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}
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}
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proc every {ms body} {
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if [eval $body] {
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after $ms [list every $ms $body];
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}
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return;
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}
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proc nextstep {paxis step target} {
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upvar #0 $paxis axis;
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set mult [expr $axis(cntsperx).0/$axis(stepsperx)];
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set axis(TP) [expr $step * $mult + $axis(TP)];
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set axis(TD) [expr $axis(TD) + $step];
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if {[expr abs($axis(TD) - $target.0)] < 0.5} {
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set axis(TS) 44; # Stopped, limit switches open
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return 0;
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} elseif {[expr abs($target - $axis(TD)) < abs($step)]} {
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set diff [expr $target - $axis(TD)];
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set axis(TP) [expr round($diff*$mult + $axis(TP))];
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set axis(TD) $target;
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set axis(TS) 44; # Stopped, limit switches open
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return 0;
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} else {
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return 1;
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}
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}
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