- Adding first working version of new AMOR settings module
- Improved sls magnet driver
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koennecke
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tabledrive.tex
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tabledrive.tex
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\subsection{Tabled Driving}
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This object implements driving several motors along a predefined path. The definition
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of the path happens through a table. Positions between tabulated positions are
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interpolated by linear interpolation. Additionally, each motor may be driven a
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bit from the tabulated positions for fine adjustments. Of course the limits are
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variable from position to position. Thus this object also sets the software limits of the
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motors accordingly. This object assumes that motors can be driven between positions
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without watching for collisions. The original use of this module is to coordinate the
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movements of the MARS triffids or girafs.
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The table lives in a separate file. The format of the file is very simple:
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Each block starts with a line containing:
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\begin{verbatim}
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# motorname
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\end{verbatim}
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This is a hash and the name of the motor.
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These lines are followed by n lines of:
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\begin{verbatim}
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lower position upper
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\end{verbatim}
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These are three numbers giving the lower and upper limit for this position in the table
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and, as the middle value, the target position for this entry.
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In order to achieve all this, we need a data structure per table entry:
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\begin{flushleft} \small
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\begin{minipage}{\linewidth} \label{scrap1}
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$\langle$tdentry {\footnotesize ?}$\rangle\equiv$
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\vspace{-1ex}
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\begin{list}{}{} \item
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\mbox{}\verb@@\\
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\mbox{}\verb@typedef struct{@\\
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\mbox{}\verb@ double lower, position, upper;@\\
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\mbox{}\verb@ int tablePos;@\\
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\mbox{}\verb@ }tdEntry, *ptdEntry;@\\
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\mbox{}\verb@ @$\diamond$
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\end{list}
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\vspace{-1ex}
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\footnotesize\addtolength{\baselineskip}{-1ex}
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\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
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\item Macro referenced in scrap ?.
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\end{list}
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\end{minipage}\\[4ex]
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\end{flushleft}
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The fields are the lower and upper limits, the position for this table entry and the
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number of the entry.
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For each motor we need another data structure:
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\begin{flushleft} \small
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\begin{minipage}{\linewidth} \label{scrap2}
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$\langle$tdmotor {\footnotesize ?}$\rangle\equiv$
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\vspace{-1ex}
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\begin{list}{}{} \item
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\mbox{}\verb@@\\
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\mbox{}\verb@typedef struct {@\\
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\mbox{}\verb@ char motorName[132];@\\
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\mbox{}\verb@ int table;@\\
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\mbox{}\verb@ pMotor pMot;@\\
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\mbox{}\verb@ }tdMotor, *ptdMotor; @\\
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\mbox{}\verb@@$\diamond$
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\end{list}
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\vspace{-1ex}
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\footnotesize\addtolength{\baselineskip}{-1ex}
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\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
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\item Macro referenced in scrap ?.
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\end{list}
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\end{minipage}\\[4ex]
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\end{flushleft}
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The fields:
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\begin{description}
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\item[motorName] The name of the motor
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\item[table] A list of tabulated positions in the form of tdEntry
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\item[pMot] A pointer to the motor data structure.
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\end{description}
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The tabledrive object itself needs a data structure too:
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\begin{flushleft} \small
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\begin{minipage}{\linewidth} \label{scrap3}
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$\langle$tdobj {\footnotesize ?}$\rangle\equiv$
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\vspace{-1ex}
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\begin{list}{}{} \item
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\mbox{}\verb@@\\
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\mbox{}\verb@typedef struct{@\\
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\mbox{}\verb@ pObjectDescriptor pDes;@\\
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\mbox{}\verb@ pIDrivable pDriv;@\\
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\mbox{}\verb@ int motorTable;@\\
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\mbox{}\verb@ int tableLength;@\\
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\mbox{}\verb@ float targetPosition;@\\
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\mbox{}\verb@ float currentPosition;@\\
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\mbox{}\verb@ int state;@\\
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\mbox{}\verb@ char orientMotor[80];@\\
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\mbox{}\verb@ int debug;@\\
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\mbox{}\verb@ }TableDrive, *pTableDrive;@\\
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\mbox{}\verb@@$\diamond$
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\end{list}
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\vspace{-1ex}
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\footnotesize\addtolength{\baselineskip}{-1ex}
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\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
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\item Macro referenced in scrap ?.
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\end{list}
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\end{minipage}\\[4ex]
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\end{flushleft}
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The fields:
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\begin{description}
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\item[pDes] The standard SICS object descriptor
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\item[pDriv] The drivable interface which encapsulates most of the magic of this module.
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\item[motorTable] A list of tdMotor entries.
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\item[tableLength] The length of the path of positions.
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\item[targetPosition] The target position we have to drive to.
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\item[currentPosition] where we are now.
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\item[state] A state variable used during driving the path.
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\item[orientMotor] is the name of the orienting motor, i.e. the one used to determine
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the position.
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\end{description}
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In terms of an interface, this object implements the drivable interface which has to
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deal with most of the work. There is just an interpreter interface which allows to
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configure and query the object.
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\begin{flushleft} \small
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\begin{minipage}{\linewidth} \label{scrap4}
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$\langle$tdint {\footnotesize ?}$\rangle\equiv$
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\vspace{-1ex}
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\begin{list}{}{} \item
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\mbox{}\verb@@\\
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\mbox{}\verb@int TableDriveFactory(SConnection *pCon, SicsInterp *pSics, void *pData,@\\
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\mbox{}\verb@ int argc, char *argv[]);@\\
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\mbox{}\verb@int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,@\\
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\mbox{}\verb@ int argc, char *argv[]);@\\
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\mbox{}\verb@ @\\
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\mbox{}\verb@ @$\diamond$
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\end{list}
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\vspace{-1ex}
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\footnotesize\addtolength{\baselineskip}{-1ex}
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\begin{list}{}{\setlength{\itemsep}{-\parsep}\setlength{\itemindent}{-\leftmargin}}
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\item Macro referenced in scrap ?.
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\end{list}
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\end{minipage}\\[4ex]
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\end{flushleft}
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\begin{flushleft} \small
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\begin{minipage}{\linewidth} \label{scrap5}
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\verb@"tabledrive.h"@ {\footnotesize ? }$\equiv$
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\vspace{-1ex}
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\begin{list}{}{} \item
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\mbox{}\verb@@\\
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\mbox{}\verb@ /*---------------------------------------------------------------------------@\\
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\mbox{}\verb@ SICS object for driving a couple of motors along a tabulated given path.@\\
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\mbox{}\verb@@\\
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\mbox{}\verb@ copyright: see file COPYRIGHT@\\
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\mbox{}\verb@@\\
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\mbox{}\verb@ Mark Koennecke, July 2005@\\
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\mbox{}\verb@---------------------------------------------------------------------------*/@\\
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\mbox{}\verb@#ifndef SICSTABLEDRIVE@\\
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\mbox{}\verb@#define SICSTABLEDRIVE@\\
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\mbox{}\verb@#include <sics.h>@\\
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\mbox{}\verb@#include "../motor.h"@\\
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\mbox{}\verb@/*-------------------------------------------------------------------------*/@\\
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\mbox{}\verb@@$\langle$tdentry {\footnotesize ?}$\rangle$\verb@@\\
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\mbox{}\verb@/*-------------------------------------------------------------------------*/@\\
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\mbox{}\verb@@$\langle$tdmotor {\footnotesize ?}$\rangle$\verb@@\\
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\mbox{}\verb@/*-------------------------------------------------------------------------*/@\\
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\mbox{}\verb@@$\langle$tdobj {\footnotesize ?}$\rangle$\verb@@\\
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\mbox{}\verb@/*-------------------------------------------------------------------------*/@\\
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\mbox{}\verb@@$\langle$tdint {\footnotesize ?}$\rangle$\verb@@\\
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\mbox{}\verb@@\\
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\mbox{}\verb@#endif@\\
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\mbox{}\verb@@\\
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\mbox{}\verb@ @$\diamond$
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\end{list}
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\vspace{-2ex}
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\end{minipage}\\[4ex]
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\end{flushleft}
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