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FULLY WORKING incl. sync. but have to fix the display. fy seems wrong

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zamofing_t
2018-10-23 15:03:31 +02:00
parent cf3581a187
commit 00c84235a0
3 changed files with 120 additions and 70 deletions
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46
python/MXMotion.py
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@@ -47,7 +47,7 @@ class MotionBase:
gpascii = self.comm.gpascii
if mode == 0:
try:
del self.sync_wait
del self.sync_prg
except AttributeError:
pass
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
@@ -61,25 +61,57 @@ class MotionBase:
# - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
# flag ='PowerBrick[0].GpioData[0].0.1==1'
flag = 'Gate3[1].Chan[0].UserFlag==1'
flag = 'Gate3[1].Chan[0].UserFlag==0'
prg = '''close all buffers
disable plc {plcId}
open plc {plcId}
Coord[{crdId}].DesTimeBase=0 // freezes timebase at boot
while(flag){{}}
L0=Sys.PhaseCount
send 1"sync0 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
while({flag}){{}}
send 1"sync1 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
L1=Sys.PhaseCount
while(1)
{{
if({flag})
{{
PowerBrick[0].GpioData[0].16.8=255
PowerBrick[0].GpioData[0].16.1=1
Coord[{crdId}].DesTimeBase=Sys.ServoPeriod
send 1"sync2 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L1
break
}}
}}
disable plc {plcId}
close
'''.format(plcId=plcId, crdId=crdId, flag=flag)
gpascii.send_block(prg)
self.sync_wait = 'Coord[{crdId}].DesTimeBase=0;enable plc {plcId}'.format(plcId=plcId, crdId=crdId)
self.sync_run = 'Coord[{crdId}].DesTimeBase=0;&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
self.sync_prg = 'Coord[{crdId}].DesTimeBase=0'.format(prgId=prgId, plcId=plcId, crdId=crdId)
self.sync_run = 'enable plc {plcId};&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
elif mode == 2:
# code block to insert in the program
# - waits untis <flag> is false
# - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
# flag ='PowerBrick[0].GpioData[0].0.1==1'
flag = 'Gate3[1].Chan[0].UserFlag==0'
prg = '''
//L0=Sys.PhaseCount
//send 1"sync0 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
while({flag}){{}}
//send 1"sync1 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
//L1=Sys.PhaseCount
while(1)
{{
if({flag})
{{
//PowerBrick[0].GpioData[0].16.8=255
//send 1"sync2 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L1
break
}}
}}
'''.format(plcId=plcId, crdId=crdId, flag=flag)
self.sync_prg = prg
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
def run(self):
'runs the code sync_run which has been generated with setup_sync()'