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work on fwd/inv kinematics for PVT motion

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zamofing_t
2018-01-05 15:48:06 +01:00
parent e84c2020cd
commit f3e01ce33c
4 changed files with 127 additions and 74 deletions
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25
Readme.md
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@@ -160,7 +160,8 @@ PBInspect --host $PPMAC --cfg PBInspect2.pbi
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
gpasciiCommander --host $PPMAC sim_8_motors.cfg -i
ssh root@$PPMAC sendgetsends -1
ssh root@$PPMAC
sendgetsends -1
cpx send 1"SampleMessage\n"
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
@@ -266,3 +267,25 @@ export CAQTDM_DISPLAY_PATH=/net/slsfs-crtl/export/sf/common/config/qt/:/net/slsf
caqtdm -macro "P=SAR-EXPMX" ESB_MX_exp.ui
```
TODO 5.1.18
-----------
```
Fwd/inv kinematic is not yet fully correct for PVT moves:
Inverse kinematic need to calculate velocities:
Now a simplified approach with no dependencies is implemented:
vqCX=vDX
vqCZ=vDZ
vqW=vW
vqFY=vY
To see the differences compare:
hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100)
hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0)
hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000),smt=0)
When using segmented mode (SegMoveTime>0) the velocities are not needed.
With SegMoveTime=0 these velocities are needed and will result in a non optimal trajectory (with the current buggy calculation).
```