From ebad56c0d18cb8544d2615115c140f7349964d29 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Fri, 3 Feb 2017 11:40:31 +0100 Subject: [PATCH] tuning Servo Parameters of XY stage without load and horizontal on the table --- .gitignore | 8 + PBinspect.pbi | 95 +++++++++ Readme.md | 63 ++++++ cfg/torqueCtrl.cfg | 7 +- logbook.md | 112 ++++++++++ prg/testPerfGridXY.prg | 432 +++++++++++++++++++++++++++++++++++++++ prg/testPerfGridYX.prg | 415 +++++++++++++++++++++++++++++++++++++ python/data/prog_2.npz | Bin 0 -> 141921 bytes python/move_record.py | 76 ++++++- python/shapepath.py | 5 + src/usrServo/pp_proj.ini | 2 +- src/usrServo/usrcode.c | 19 +- 12 files changed, 1219 insertions(+), 15 deletions(-) create mode 100644 PBinspect.pbi create mode 100644 prg/testPerfGridXY.prg create mode 100644 prg/testPerfGridYX.prg create mode 100644 python/data/prog_2.npz diff --git a/.gitignore b/.gitignore index 2f836aa..5dd1a68 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,10 @@ +.tmp_versions/ +.idea/ *~ *.pyc +usralgo.ko +usralgo.mod.c +*.o +*o.cmd +Module.symvers +modules.order diff --git a/PBinspect.pbi b/PBinspect.pbi new file mode 100644 index 0000000..b8dcdcc --- /dev/null +++ b/PBinspect.pbi @@ -0,0 +1,95 @@ +[ + [ + "MotorListCtrl", + [ + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16 + ], + "name=p;caption=motor pos;state=67377148;dir=4;layer=0;row=0;pos=1;prop=100000;bestw=200;besth=350;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=-1;floaty=-1;floatw=-1;floath=-1;notebookid=-1;transparent=255" + ], + [ + "WatchListCtrl", + [ + ["EncTable[1].PrevEnc",null], + ["Motor[1].Pos","lambda v: '%.8g'%float(v)"], + ["Motor[1].DesPos","lambda v: '%.8g'%float(v)"], + ["Motor[1].PosError","lambda v: '%.8g'%float(v)"], + ["Motor[1].Servo.Integrator","lambda v: '%.8g'%float(v)"], + ["Motor[1].ServoOut","lambda v: '%.8g'%float(v)"], + ["Motor[1].idCmd","lambda v: '%.8g'%float(v)"], + ["Motor[1].iqCmd","lambda v: '%.8g'%float(v)"], + ["Motor[1].idMeas","lambda v: '%.8g'%float(v)"], + ["Motor[1].iqMeas","lambda v: '%.8g'%float(v)"], + ["Motor[1].iaMeas","lambda v: '%.8g'%float(v)"], + ["Motor[1].ibMeas","lambda v: '%.8g'%float(v)"], + ["Motor[1].I2tSum","lambda v: '%.8g'%float(v)"], + ["EncTable[2].PrevEnc",null], + ["Motor[2].Pos","lambda v: '%.8g'%float(v)"], + ["Motor[2].DesPos","lambda v: '%.8g'%float(v)"], + ["Motor[2].PosError","lambda v: '%.8g'%float(v)"], + ["Motor[2].Servo.Integrator","lambda v: '%.8g'%float(v)"], + ["Motor[2].ServoOut","lambda v: '%.8g'%float(v)"], + ["Motor[2].idCmd","lambda v: '%.8g'%float(v)"], + ["Motor[2].iqCmd","lambda v: '%.8g'%float(v)"], + ["Motor[2].idMeas","lambda v: '%.8g'%float(v)"], + ["Motor[2].iqMeas","lambda v: '%.8g'%float(v)"], + ["Motor[2].iaMeas","lambda v: '%.8g'%float(v)"], + ["Motor[2].ibMeas","lambda v: '%.8g'%float(v)"], + ["Motor[2].I2tSum","lambda v: '%.8g'%float(v)"], + ["EncTable[3].PrevEnc",null], + ["Motor[3].Pos","lambda v: '%.8g'%float(v)"], + ["Motor[3].DesPos","lambda v: '%.8g'%float(v)"], + ["Motor[3].PosError","lambda v: '%.8g'%float(v)"], + ["Motor[3].Servo.Integrator","lambda v: '%.8g'%float(v)"], + ["Motor[3].ServoOut","lambda v: '%.8g'%float(v)"], + ["Motor[3].idCmd","lambda v: '%.8g'%float(v)"], + ["Motor[3].iqCmd","lambda v: '%.8g'%float(v)"], + ["Motor[3].idMeas","lambda v: '%.8g'%float(v)"], + ["Motor[3].iqMeas","lambda v: '%.8g'%float(v)"], + ["Motor[3].iaMeas","lambda v: '%.8g'%float(v)"], + ["Motor[3].ibMeas","lambda v: '%.8g'%float(v)"], + ["Motor[3].I2tSum","lambda v: '%.8g'%float(v)"] + ], + "name=w;caption=watch;state=67377148;dir=4;layer=0;row=1;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=221;floaty=858;floatw=208;floath=377;notebookid=-1;transparent=255" + ], + [ + "StatusMotorListCtrl", + [ + 1 + ], + "name=m1;caption=motor1;state=67377148;dir=4;layer=0;row=2;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=485;floaty=810;floatw=208;floath=677;notebookid=-1;transparent=255" + ], + [ + "StatusMotorListCtrl", + [ + 3 + ], + "name=m3;caption=motor3;state=67377148;dir=4;layer=0;row=5;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=694;floaty=941;floatw=208;floath=677;notebookid=-1;transparent=255" + ], + [ + "StatusGblListCtrl", + [], + "name=g;caption=global;state=67377148;dir=4;layer=0;row=0;pos=0;prop=100000;bestw=200;besth=369;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=2058;floaty=457;floatw=208;floath=377;notebookid=-1;transparent=255" + ], + [ + "StatusMotorListCtrl", + [ + 2 + ], + "name=m2;caption=motor2;state=67377148;dir=4;layer=0;row=4;pos=0;prop=100000;bestw=200;besth=669;minw=-1;minh=-1;maxw=-1;maxh=-1;floatx=2588;floaty=946;floatw=208;floath=677;notebookid=-1;transparent=255" + ] +] \ No newline at end of file diff --git a/Readme.md b/Readme.md index 54740de..8df6415 100644 --- a/Readme.md +++ b/Readme.md @@ -79,4 +79,67 @@ Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION +Optimize/Test Parameters with Parker Stage +------------------------------------------ + +cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg +gpasciiCommander --host SAROP11-CPPM-MOT6871 -i +!mx-stage() +#1..3$ +&1 +#1..3j/ + +load program prg/testPerfGrid.prg +b2r + +cd ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo +make #will install the user servo loop +watch P3000 (average following error) +tweak servo parameters ->!motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000) + +Same for motor 2 -> watcp P2000 +Increase load will need an increase of gains to compensate following error + +Motor[2].Servo.Kp=20 +Motor[2].Servo.Kvfb=1000 +Motor[2].Servo.Ki=0.07 +Motor[2].Servo.Kvff=1000 +Motor[2].Servo.Kaff=4000 + + +Motor[3].Servo.Kp=20 +Motor[3].Servo.Kvfb=220 +Motor[3].Servo.Ki=0.02 +Motor[3].Servo.Kvff=240 +Motor[3].Servo.Kaff=1500 + + ./shapepath.py --yx +average error x 0.313575 um, y 0.461707 um, 0.629583 um + +./shapepath.py +average error x 0.371877 um, y 0.317152 um, 0.542073 um + + + +Start motion on external signal +------------------------------- + +open plc 1 +Coord[1].DesTimeBase=0 // freezes timebase at boot +while(1) +{ + if(PowerBrick[0].GpioData[0].0.1==1) + { + PowerBrick[0].GpioData[0].16.8=255 + Coord[1].DesTimeBase=Sys.ServoPeriod + } + else + { + PowerBrick[0].GpioData[0].16.8=7 + Coord[1].DesTimeBase=0 + } +} +close +enable plc 1 +-> run motion program. press gpio 0 to run at 100% diff --git a/cfg/torqueCtrl.cfg b/cfg/torqueCtrl.cfg index 836b346..7d1b017 100644 --- a/cfg/torqueCtrl.cfg +++ b/cfg/torqueCtrl.cfg @@ -63,7 +63,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a //use um as motor unit !encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048) !encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000) -!motor_servo(mot=2,ctrl='ServoCtrl',Kp=16,Kvfb=800,Ki=0.001,Kvff=1000,Kaff=0,MaxInt=1000) +!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=1000,Ki=0.07,Kvff=1000,Kaff=4000,MaxInt=1000) !motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2) @@ -76,9 +76,8 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a !encoder_sim(enc=3,tbl=11,mot=11,posSf=13000./2048) !encoder_inc(enc=3,tbl=3,mot=3,posSf=13000./650000) -!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=240,Kaff=0,MaxInt=1000) -//PhaseFreq=20000,PhasePerServo=1 -//!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220*4,Ki=0.001/4,Kvff=240*4,Kaff=0*4*4,MaxInt=1000) +!motor_servo(mot=3,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000) +//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4 !motor(mot=3,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=2000,WarnFeLimit=100,InPosBand=2) diff --git a/logbook.md b/logbook.md index 793e7f1..1fb5bfe 100644 --- a/logbook.md +++ b/logbook.md @@ -487,3 +487,115 @@ fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data fh=np.load(fn) scipy.io.savemat(fn[:-3]+'mat',mdict=dict(fh.iteritems())) + +compensate position depenmdent friction 1.2.2017 +------------------------------------------------ + +Git tag: 3fafe53 +gpasciiCommander --host SAROP11-CPPM-MOT6871 -i +!mx-stage() +&1 #1->0 +&1 #2->0 +#3$ +an anschlag (kabel) bewegen +#3hmz +Motor[3].PhasePos=1200 +#3j/ + +./move_record.py +abs average pos Error 2.1890901307 + +Motor[3].Servo.Kp=10 +Motor[3].Servo.Kvfb=100 +Motor[3].Servo.Kvff=100 +abs average pos Error 1.89392140871 + +/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo/usrcode.c +line 100: c=0.f; //no friction compensation at all +abs average pos Error 1.82212631688 + +line 85: c=0.f; //do not use friction lut +abs average pos Error 1.47794399154 + +using friction lut: +abs average pos Error 0.893315213359 + +But if it is put vertically, the value becomes bad again. +check friction on vertical stage + +average PosError to P3000 2.2.2017 +---------------------------------- + +modify programm generated by ./move_record.py: + +open prog 2 +N0: +linearabs +X505.488Y7.15189 +dwell10 +pvt10abs +X505.488:2526.97Y7.15189:-85.15309999999999 +X556.028:4937.42Y5.44883:-34.6476 +... +X508.588:0Y954.585:0 +X508.588Y954.585 +dwell10 +goto 0 +close + + + + +modify user servo to average PosError to P3000 2.2.2017 +tweak parameters: +Motor[3].Servo.Kp +Motor[3].Servo.Kvfb +Motor[3].Servo.Ki +Motor[3].Servo.Kvff +Motor[3].Servo.Kaff + +Kp = 10 10 10 10 10 10 20 +Kvfb = 220 220 220 220 220 220 220 +Ki = 0.001 0.01 0.02 0.01 0 0 0.02 +Kvff = 240 240 240 240 240 240 240 +Kaff = 0 0 0 20 1500 1500 1500 + 1.3 .53 .43 0.52 1.88 0.7 0.1 + A + +A: Higher Ki than 0.02 do not help + +Set Ki to 0 and seek optimal Kvff +Kvff =240 local minimum +Kvfb =220 local minimum +Kaff =1500 Kaff does not change the error amount, but makes the error smoother at 1500 +Kp =20 average error becomes smaller + + +Motor[3].Servo.Kvff + +commit after: 3fafe53 +./move_record.py +>>>>>>>> abs average pos Error 0.353193239442 <<<<<<< + +./shapepath.py gen_rand_points(n=400, scale=1000) +Random path at speed: +%100 average error x 1.32075 um, y 0.940694 um, 1.84578 um +%50 average error x 0.336186 um, y 0.259554 um, 0.478149 um +%25 average error x 0.177138 um, y 0.077619 um, 0.209937 um + + +./shapepath.py gen_grid_points(w=20,h=20,pitch=50,rnd=0.2) +Grid path at speed: +%100 average error x 0.363065 um, y 0.314149 um, 0.536246 um +%50 average error x 0.246374 um, y 0.0985771 um, 0.283925 um +%25 average error x 0.150303 um, y 0.0429124 um, 0.163468 um + + + +> + + + + + + diff --git a/prg/testPerfGridXY.prg b/prg/testPerfGridXY.prg new file mode 100644 index 0000000..5f05b31 --- /dev/null +++ b/prg/testPerfGridXY.prg @@ -0,0 +1,432 @@ +//this program is generated with ./shapepath.py +//cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg") +//then modifiing start and end to not use gathering and to make a loop + +open plc 1 +Coord[1].DesTimeBase=0 // freezes timebase at boot +while(1) +{ + if(PowerBrick[0].GpioData[0].0.1==1) + { + PowerBrick[0].GpioData[0].16.8=255 + Coord[1].DesTimeBase=Sys.ServoPeriod + } + else + { + PowerBrick[0].GpioData[0].16.8=7 + Coord[1].DesTimeBase=0 + } +} +close + +open prog 2 +N0: +linearabs 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./shapepath.py +//cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg") +//then modifiing start and end to not use gathering and to make a loop + +open prog 2 +N0: +linearabs +X505.488 Y7.15189 +dwell 10 + pvt10 abs +X505.488:-94.6528 Y7.15189:2360.92 +X503.595:-115.415 Y54.3703:4849.54 +X503.18:182.873 Y104.143:5032.15 +X507.253:189.723 Y155.013:5019.64 +X506.974:-206.729 Y204.535:5097.51 +X503.118:83.2134 Y256.963:4831.99 +X508.639:-9.3878 Y301.175:5076.3 +X502.93:-296.764 Y358.489:5006.98 +X502.703:-52.9447 Y401.315:5027.52 +X501.871:65.4658 Y459.04:5398.9 +X504.013:86.7073 Y509.293:4962.34 +X503.605:-165.195 Y558.287:4681.75 +X500.709:91.5662 Y602.928:4727.02 +X505.437:273.978 Y652.827:4920.33 +X506.188:-184.51 Y701.335:5022.64 +X501.747:114.662 Y753.28:5401.19 +X508.482:115.358 Y809.358:4996.53 +X504.054:-48.5644 Y853.21:4995.69 +X507.51:226.702 Y909.272:5068.73 +X508.588:2346.78 Y954.585:2204.45 +X554.446:2085.09 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zTkD6pEg?&Y$lq9q*zYCs7$N$8Cc!0pxVV;`jHezM4+pFO_B!)c%G|FJ)~E0LRc{7m z#D<7XRl6djRBbI&KR+jbUz5+VR@vV|u0m>~9C66p+iu5$KVVg+`I3iJJA1l^* zDvyv8+L9S4?2ox$*)MmttQwcS!}%NbJ-N78Y~YjyF?T z|G%TFC-MEb7Z}yu{~7OFw_M+N+x{Eg>^;U^7OJ7am44ltykxT+ixRie0;_dsZE-5+QiEnUsqcy##x38dg##&1DDH%oy#IdK0!UmqaM;U#J#b9^>7*NW=f15d2TeEa0i<8~guXqyLWE|1^5ajrV_|_`l!jzuoblMjv_b a{;zX%H3@;qaO)NUaGM7nJ)YnJ-~ShEnfd?# literal 0 HcmV?d00001 diff --git a/python/move_record.py b/python/move_record.py index ff23e60..fb74cbe 100755 --- a/python/move_record.py +++ b/python/move_record.py @@ -26,7 +26,7 @@ import numpy as np import matplotlib as mpl import matplotlib.pyplot as plt import subprocess as sprc -import telnetlib +import telnetlib, re from utilities import * os.environ['PATH']='/home/zamofing_t/scripts/:'+os.environ['PATH'] @@ -38,8 +38,9 @@ class MoveRecord: self.fnNpz=fn+'.npz' #cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']} #cfg = {"sequencer": ['plot_1()']} - cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']} + #cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']} #cfg = {"sequencer": ['plot_2()']} + cfg = {"sequencer": ['prog_3(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']} self.cfg=dotdict(cfg) self.args=args @@ -98,7 +99,7 @@ class MoveRecord: meta = self.meta channels = self.channels fnLoc='/tmp/gather.txt' - rec = np.genfromtxt(fnLoc, delimiter=' ') + self.rec=rec=np.genfromtxt(fnLoc, delimiter=' ') # rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos # res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos # idx 0 1 2 3 4 5 @@ -119,7 +120,7 @@ class MoveRecord: self.file=file self.host=host self.gather={"MaxSamples":1000000, "Period":acq_per} - self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"] + self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"] self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']} self.prg=prg=[] @@ -130,21 +131,27 @@ class MoveRecord: prg=self.prg prg.append(' linear abs') - prg.append('jog3=100') + prg.append('jog3=300') prg.append('dwell 100') prg.append('Gather.Enable=2') #for spd in (5,10,20,30,40): + #for spd in (10,20): for spd in (10,10,10,10,20,20,20,20,20,20): prg.append('Motor[3].JogSpeed=%d'%spd) #prg.append('jog3=27000') prg.append('jog3=28500') prg.append('dwell 100') - prg.append('jog3=100') + prg.append('jog3=300') prg.append('dwell 100') prg.append('Gather.Enable=0') - meta['HomePos']=-4885.72 #set the value of Motor[3].HomePos self.prg_epilog() + rec=self.rec + meta['HomePos']=rec[0,1]-300 #rec[0,1]= first DesPos, 300 um is the start position of the motion + print meta + if self.fnNpz: + np.savez_compressed(self.fnNpz, rec=rec, prg=prg, channels=channels, meta=meta) + #!mx-stage() # &1 #1->0 # &1 #2->0 @@ -170,6 +177,7 @@ class MoveRecord: channels=self.channels meta=self.meta except AttributeError: + print 'load file %s'%self.fnNpz fh=np.load(self.fnNpz) rec=fh['rec'] prg=list(fh['prg']) @@ -385,6 +393,60 @@ class MoveRecord: plt.show() + def prog_3(self,prgId=2,host=None,acq_per=1): + ''' + kwargs: + acq_per : acquire period: acquire data all acq_per servo loops (default=1) + prgId : used program number + file : used filename to save if None, not saved + host : host to send and execute program, if None, nothing is executed + ''' + ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro + + self.prgId=prgId + self.file=file + self.host=host + self.gather={"MaxSamples":1000000, "Period":acq_per} + self.channels=channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"] + self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']} + + self.prg=prg=[] + #prg.append('#1..3$') + #prg.append('#1..3j/') + + self.prg_prolog() + prg=self.prg + + fh=open('/tmp/shapepath.prg','r') + lines=fh.read().splitlines() + fh.close() + prg.extend(lines[11:-3]) + self.prg_epilog() + #print '\n'.join(prg) + rec=self.rec + lines[12] + x0=float(re.match('X(\S+)\sY\S+',lines[12]).group(1)) + meta['HomePos']=rec[0,1]-x0 #rec[0,1]= first DesPos is x0, the start position of the motion + print meta + if self.fnNpz: + np.savez_compressed(self.fnNpz, rec=rec, prg=prg, channels=channels, meta=meta) + + + # &1 #1->0 + # &1 #2->0 + # #3$ + # an anschlag (kabel) bewegen + # #3hmz + # Motor[3].PhasePos=1200 # or for motor 2: Motor[2].PhasePos=300 + # #3j/ + # &1p + + + #folgende parameter setzen: Motor[3].HomePos + meta['HomePos']=-223.8 #Motor[3].HomePos + meta['PhasePos']=1200 #Motor[3].PhasePos + + if __name__=='__main__': from optparse import OptionParser, IndentedHelpFormatter class MyFormatter(IndentedHelpFormatter): diff --git a/python/shapepath.py b/python/shapepath.py index bbc448c..370a7de 100755 --- a/python/shapepath.py +++ b/python/shapepath.py @@ -121,6 +121,7 @@ class ShapePath: pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch if rnd != 0: pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch)) + pts[:,0]+=500 self.points=pts def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs): @@ -307,6 +308,10 @@ class ShapePath: #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos #res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos #idx 0 1 2 3 4 5 + ofsy=-rec[0,4]+pts[0,1] + ofsx=-rec[0,5]+pts[0,0] + rec[:,(1,4)]+=ofsy + rec[:,(2,5)]+=ofsx if fnOut: # time base: # Gather.Period=10 diff --git a/src/usrServo/pp_proj.ini b/src/usrServo/pp_proj.ini index ec74360..3a84565 100755 --- a/src/usrServo/pp_proj.ini +++ b/src/usrServo/pp_proj.ini @@ -2,7 +2,7 @@ [RTUSRCCODE] usrrtmodule=/tmp/usralgo.ko -#ServoCtrlName2=usr_servo_ctrl_2 +ServoCtrlName2=usr_servo_ctrl_2 ServoCtrlName3=usr_servo_ctrl_3 #ServoCtrlName4=user_pid_ctrl diff --git a/src/usrServo/usrcode.c b/src/usrServo/usrcode.c index e5a743d..21ead68 100644 --- a/src/usrServo/usrcode.c +++ b/src/usrServo/usrcode.c @@ -55,6 +55,7 @@ void user_phase( struct MotorData *Mptr) double usr_servo_ctrl_2(MotorData *Mptr) { + pshm->P[2000]=pshm->P[2000]*.9999+abs(Mptr->PosError)*0.0001; //lowpass of Position error return pshm->ServoCtrl(Mptr); } @@ -66,6 +67,8 @@ float lutFric[275]={ double usr_servo_ctrl_3(MotorData *Mptr) { + //Structure of shared memory file is at: /opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac/RtGpShm.h + //compensate_friction_servo_ctrl for motor 3 static int cnt=0; float p,c; @@ -82,15 +85,25 @@ double usr_servo_ctrl_3(MotorData *Mptr) else c=lutFric[idx]+(lutFric[idx+1]-lutFric[idx])*(p-idx); - c=0.f; + c=0.f; //do not use friction lut if(Mptr->DesVel>0) + { c+=28.2405057332f; - //c+=45.f; + //c+=100.f; + } else if (Mptr->DesVel<0) + { c-=61.2462872333f; - //c+=45.f; + //c-=100.f; + } else + { c+=(28.2f-61.2f)/2.f; + } + //c-=550.f;//compensate if stage is vertically + c/=11.f; //no friction compensation at all + c=0.f; //no friction compensation at all + pshm->P[3000]=pshm->P[3000]*.9999+abs(Mptr->PosError)*0.0001; //lowpass of Position error // The default servo algo. ctrl_out=pshm->ServoCtrl(Mptr);