#%NAME%
# Macromotor to control the HXP100 Newport hexapode
#
#%DESCRIPTION%
#Control of the HXP100 Newport hexapode
#%BR% default socket timeout: 5
#%BR% 'scale' parameter: can be set in the config. This is the
#For example, with a scale of 1000, spec value will be divided by 1000
#to be sent to the controller, and the read value will be multiplied by 1000.
#If not provided, is set to 1
#%BR% - Position is understood as the position of the Tool coordinate system in
#the Work coordinate system
#%END%
global hxp100_SIMUL hxp100_DEBUG
global HXP_SOCK_ANSWER HXP_SOCK_ERR HXP_ERR_MSG
global HXP_SOCK HXP_COORD
#HXP_GROUPNAME = "HEXAPOD"
#HXP_SOCK = "192.168.254.254:5001"
HXP_sock0 = "%.13g,0,0,0,0,0"
HXP_sock1 = "0,%.13g,0,0,0,0"
HXP_sock2 = "0,0,%.13g,0,0,0"
HXP_sock3 = "0,0,0,%.13g,0,0"
HXP_sock4 = "0,0,0,0,%.13g,0"
HXP_sock5 = "0,0,0,0,0,%.13g"
HXP_COORD = "Work"
HXP_DEG[0]= "X"
HXP_DEG[1]= "Y"
HXP_DEG[2]= "Z"
HXP_DEG[3]= "U"
HXP_DEG[4]= "V"
HXP_DEG[5]= "W"
HXP_SLEEP = 0.01
global HXP_rad
global HXP_optzpos
# optimal Z position to move after a home, in order to have the maximum
# possible travel range in X Y Z U V W
# LD: 13mm
HXP_optzpos = 13
global HXP_POS
#%UU%
#%MDESC% toggle the debug mode
if (!(whatis("__hxp100_debug") & 2)) rdef __hxp100_debug \'#$*\'
def hxp100_debug '{
if ((whatis("__hxp100_debug")>>16) <= 3) { # macro length is 3 bytes: comment
rdef __hxp100_debug "eprint"
print "hxp100 macro debug mode is ON"
hxp100_DEBUG = 1
}
else {
rdef __hxp100_debug \'#\$*\'
print "hxp100 macro debug mode is OFF"
hxp100_DEBUG = 0
}
}'
# some programmer help
#%UU%
#%MDESC% toggle debug mode for the present macros.
def hxp100_simul '{
if (hxp100_SIMUL) { # if present should be true
hxp100_SIMUL = 0
print "hxp100 simulation is OFF"
} else {
hxp100_SIMUL = 1
print "hxp100 simulation is ON"
}
}
'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec after reading the config file
#
def hxp100_config(num,type,p1,p2,p3) '{
local dev hxp_conf lcmd
__hxp100_debug ">>> hxp100_config: ",num,type,p1,p2,p3
# called for each macro-hardware controller
# p1:unit p2: nbchan
if (type=="ctrl") {
__hxp100_debug ">>> new controller "
split(hxp100_ADDR,hxp_conf,":")
lcmd = sprintf ("ping %s -c 1", hxp_conf[0])
if (unix(lcmd) != 0) {
eprintf ("Controller %s not responding, disabling its motors\n", \
hxp_conf[0])
return ".error."
}
return
}
# called for each macro motor channel
# p1:unit p2:module p3:channel
if (type=="mot") {
#nothing
local myscale
myscale = motor_par(num, "scale")
if (myscale < 1.0e-8) {
myscale = 1
}
motor_par(num, "scalefactor", myscale, "add")
__hxp100_debug ">>> scalefactor " myscale
# this one is used only for channels >=6
#motor_par(num, "newpos", 0, "add")
}
#returns nothing or .error.
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec on motor operation. It manages:
#%BR%- position
#%BR%- start_one
#%BR%- get_status
def hxp100_cmd(num,key,p1,p2) '{
local mychan myparam mystr1 myret nn hxp_add hxp_conf myret
__hxp100_debug ">>> hxp100_cmd: ",num, key, todo, p1, p2
if(num == "..") { return }
mychan = motor_par(num,"channel")
hxp_add = hxp100_ADDR
split(hxp_add,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100 ",hxp_add
#
# return the current position
#
if (key == "position") {
__hxp100_debug ">>> hxp100_cmd: position acting"
# send request
myparam = sprintf("%s.%s",HXP_GROUPNAME,HXP_DEG[mychan])
mystr1 = sprintf("GroupPositionCurrentGet(%s, double *)",myparam)
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr1
}
else {
__hxp100_debug "... sending: " mystr1
sock_put(HXP_SOCK,mystr1);sleep(HXP_SLEEP)
}
# get the answer
myret = hxp100_waitforanswer(6)
#
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
return ".error"
}
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " splitarr[0] " , " HXP_ERR_MSG
return ".error."
}
else{
local myscale retret
myscale = motor_par(num, "scalefactor")
#added because was found == 0
if (myscale < 1.0e-8) {
myscale = 1
}
__hxp100_debug "... scaling factor: " myscale
__hxp100_debug "... read position: " HXP_SOCK_ANSWER * myscale
retret = HXP_SOCK_ANSWER * myscale
return retret
}
}
#
# start a motion. p1: dial abs. pos., p2: dial rel. pos.
#
if (key == "start_one") {
local mystr1 splitarr nn myarg ret myp2
__hxp100_debug ">>> hxp100_cmd: start_one acting"
myparam = sprintf("HXP_sock%d",mychan)
if (mychan >=6) {
myparam = sprintf("HXP_sock%d",mychan-6)
}
# divide the sended position with the scale factor
local myscale
myscale = motor_par(num, "scalefactor")
__hxp100_debug "... scaling factor: " myscale
#added because was found == 0
if (myscale < 1.0e-8) {
myscale = 1
}
myp2 = p2 / myscale
myarg = sprintf(@myparam,myp2)
# for X, Y, Z use Tool coordinate system + incremental move
# for U, V, W (angles) use Work coordinate system + incremental move
if (mychan <= 2) {
mystr1 = sprintf("HexapodMoveIncremental(HEXAPOD,Tool,%s)",myarg)
}
else {
mystr1 = sprintf("HexapodMoveIncremental(HEXAPOD,Work,%s)",myarg)
}
# all Tool NO
#mystr1 = sprintf("HexapodMoveIncremental(HEXAPOD,Tool,%s)",myarg)
# myp2 = p1 / myscale
# myarg = sprintf(@myparam,myp2)
# mystr1 = sprintf("HexapodMoveAbsolute(HEXAPOD,%s,%s)",HXP_COORD,myarg)
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr1
}
else {
__hxp100_debug "... sending: " mystr1
sock_put(HXP_SOCK,mystr1);sleep(HXP_SLEEP)
# this is a blocking socket
# next sock_get will answer
# - either immediately with an error code
# - or with no error after a while.
}
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
}
else{
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " , HXP_ERR_MSG
}
}
#returns nothing
}
#
# return motor status
#
#
#
if (key == "get_status") {
# send request
mystr1 = sprintf("GroupStatusGet (%s, int *)",HXP_GROUPNAME)
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr1
return 0
}
else {
__hxp100_debug "... sending: " mystr1
sock_put(HXP_SOCK,mystr1);sleep(HXP_SLEEP)
}
# get the answer
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
return ".error"
}
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " splitarr[0] " , " HXP_ERR_MSG
return ".error."
}
else {
# got a number
__hxp100_debug "..... status from the controller: " HXP_SOCK_ANSWER
local statusnum
statusnum = HXP_SOCK_ANSWER
local strstatus
strstatus = hxp100_getstatusstr(HXP_SOCK,HXP_SOCK_ANSWER)
__hxp100_debug "..... status string from the controller: " strstatus
# controller ready
if ((statusnum == 11) || \
(statusnum == 13) || \
(statusnum == 12) || \
(statusnum == 10)){
__hxp100_debug "DEVON"
return 0
}
if ((statusnum == 44) || \
(statusnum == 43)){
__hxp100_debug "DEVMOVING"
return 0x02
}
else{
p "HXP100: Fault: status read from the controller: " strstatus
return 0x20
}
}
}
}'
#%IU%(nbtryy)
#%MDESC% after a sock_put, wait for an answer.
#%BR% to be used if the answer is a single item.
#%BR%- maximum of 'nbtry' tries of sock_get reading
#%BR%- returns 0 if OK, -1 if NOT OK but responding, -2 if not responding
#%BR%- if responding, sets HXP_SOCK_ANSWER and HXP_SOCK_ERR
def hxp100_waitforanswer(nbtryy)'{
local myret nn splitarr err
__hxp100_debug ">>> hxp100_waitforanswer(): acting ", nbtryy
if (hxp100_SIMUL == 1) {
myret = "0,,EndOfAPI"
__hxp100_debug "... SIMUL received: " myret
}
else {
myret = sock_get(HXP_SOCK)
__hxp100_debug "... received: " myret
}
while ( (myret == "") && (nbtryy >0) ){
# still not answering
__hxp100_debug "..... not yet answering"
myret = sock_get(HXP_SOCK)
nbtryy--
}
if ( (myret == "") && (nbtryy <=0) ){
p "HXP100: ..... HXP100 controller not responding"
return -2
}
# answer is: <error status>,<text>,EndOfAPI
nn = split(myret,splitarr,",")
__hxp100_debug "..... err code: " splitarr[0]
__hxp100_debug "..... message : " splitarr[1]
__hxp100_debug "..... end code: " splitarr[2]
# if an error, get the error string
if (splitarr[0] != 0){
errstr = hxp100_geterrstr(HXP_SOCK,splitarr[0])
__hxp100_debug "..... answers with err code: " splitarr[0] " , " errstr
HXP_SOCK_ERR = splitarr[0]
HXP_ERR_MSG = errstr
return -1
}
else {
HXP_SOCK_ERR = splitarr[0]
HXP_SOCK_ANSWER = splitarr[1]
return 0
}
}'
#%UU%(<host:socket>,err)
#%MDESC% return the string associated to an error number, for hexapode
#in host:socket adress.
def hxp100_geterrstr(mysock,numb)'{
local mystr nn2 splitarr2
__hxp100_debug ">>> hxp100_geterrstr(): acting"
mystr = sprintf("ErrorStringGet (%d,char *)",numb)
__hxp100_debug "... sending: " mystr
sock_put(mysock,mystr);sleep(HXP_SLEEP)
hxp100_waitforanswer(6)
return(HXP_SOCK_ANSWER)
}'
#%UU%(<host:socket>,err)
#%MDESC% return the string associated to an status number, for hexapode
#in host:socket adress.
def hxp100_getstatusstr(mysock,numb)'{
local mystr nn2 splitarr2
__hxp100_debug ">>> hxp100_getstatusstr(): acting"
mystr = sprintf("GroupStatusStringGet (%d,char *)",numb)
__hxp100_debug "... sending: " mystr
sock_put(mysock,mystr);sleep(HXP_SLEEP)
hxp100_waitforanswer(6)
return(HXP_SOCK_ANSWER)
}'
#%UU%(mne)
#%MDESC% Makes an init on the hexapode defined above the motor 'mne'
#It canbe called by providing any motor of the hexapode
def hxp100_init(mne)'{
local mysock mynum hxp_conf mystr
__hxp100_debug ">>> hxp100_init ", mne
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
split(mysock,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100_init ", HXP_SOCK , HXP_GROUPNAME
mystr = sprintf("GroupKill(%s)",HXP_GROUPNAME)
__hxp100_debug "... sending: " mystr
if (hxp100_SIMUL != 1) {
sock_put(HXP_SOCK,mystr)
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
}
else{
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " , HXP_ERR_MSG
}
}
}
mystr = sprintf("GroupInitialize(%s)",HXP_GROUPNAME)
__hxp100_debug "... sending: " mystr
if (hxp100_SIMUL != 1) {
sock_put(HXP_SOCK,mystr)
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
}
else{
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " , HXP_ERR_MSG
}
}
}
mystr = sprintf("GroupHomeSearch(%s)",HXP_GROUPNAME)
__hxp100_debug "... sending: " mystr
if (hxp100_SIMUL != 1) {
sock_put(HXP_SOCK,mystr)
#removed as seems that never answer.better to loop on the status
myret = hxp100_waitforanswer(50)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
}
else{
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " , HXP_ERR_MSG
}
}
}
}'
#%UU%(mne)
#%MDESC% Reads the status
def hxp100_status(mne)'{
local mysock mynum hxp_conf mystr1
__hxp100_debug ">>> hxp100_status ", mne
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
split(mysock,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100_status ", HXP_SOCK , HXP_GROUPNAME
mystr1 = sprintf("GroupStatusGet (%s, int *)",HXP_GROUPNAME)
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr1
return 0
}
else {
__hxp100_debug "... sending: " mystr1
sock_put(HXP_SOCK,mystr1);sleep(HXP_SLEEP)
}
# get the answer
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
return ".error"
}
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " splitarr[0] " , " HXP_ERR_MSG
return ".error."
}
else {
# got a number
__hxp100_debug "..... status from the controller: " HXP_SOCK_ANSWER
local statusnum
statusnum = HXP_SOCK_ANSWER
local strstatus
strstatus = hxp100_getstatusstr(HXP_SOCK,HXP_SOCK_ANSWER)
__hxp100_debug "..... status string from the controller: " strstatus
# controller ready
if ((statusnum == 11) || \
(statusnum == 13) || \
(statusnum == 12) || \
(statusnum == 10)){
p "HXP100: DEVON"
return 0
}
if ((statusnum == 44) || \
(statusnum == 43)){
p "HXP100: DEVMOVING"
return 0x02
}
else{
p "HXP100: Fault: status read from the controller: " strstatus
return 0x20
}
}
}'
#%UU%(mne,string)
#%MDESC%Writes a string
def hxp100_write(mne,mystr)'{
local mysock mynum hxp_conf mystr1
__hxp100_debug ">>> hxp100_write ", mystr
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
split(mysock,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100_write ", HXP_SOCK , HXP_GROUPNAME
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr
return 0
}
else {
__hxp100_debug "... sending: " mystr
sock_put(HXP_SOCK,mystr);sleep(HXP_SLEEP)
}
}'
#%UU%(mne)
#%MDESC%read the answer
def hxp100_read(mne)'{
local myret mysock mynum
__hxp100_debug ">>> hxp100_read "
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
# get the answer
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
return ".error"
}
}'
#%UU%(mne)
#%MDESC%Homing procedure.Needs hexapode motors been defined
#with hxp100_list
def hxp100_home(mne)'{
local req ii
req = 0
while (req != 6) {
p " "
p "HXP100 home procedure:"
p "Please choose an action"
p " 1: home"
p " 2: status"
p " 3: sync"
p " 4: move to optimal Z position"
p " 5: setting all the hexapode positions to 0"
p " 6: quit"
req = getval("choice ?",req)
if (req == 1) {
hxp100_init(mne)
}
if (req == 2) {
p " "
hxp100_status(mne)
}
if (req == 3){
sync
}
if (req == 4){
# send the motion on Z
local myparam myp2 myarg mystr1 myret
myparam = "HXP_sock2"
myp2 = HXP_optzpos
myarg = sprintf(@myparam,myp2)
mystr1 = sprintf("HexapodMoveIncremental(HEXAPOD,Work,%s)",myarg)
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr1
}
else {
__hxp100_debug "... sending: " mystr1
sock_put(HXP_SOCK,mystr1);sleep(HXP_SLEEP)
}
myret = hxp100_waitforanswer(6)
if (myret == -2) {
p "HXP100: ..... HXP controller not responding"
}
else{
# if an error, get the error string
if (HXP_SOCK_ERR != 0){
p "HXP100: ..... err code: " , HXP_ERR_MSG
}
}
# wait for end of motion: read the status
local mystat
mystat = hxp100_status(mne)
while(mystat == 0x02) {
# still moving
mystat = hxp100_status(mne)
}
#do a silent sync
read_motors(6)
}
if (req == 5){
# set all positions to 0
for (ii=0; ii<6; ii++) {
mystr = sprintf("set %s 0",HXP[ii])
p "doing ", mystr
eval(mystr)
}
}
}
}'
#%UU%(mne,coord)
#%MDESC% get the coordinate system position
#%BR%- <mne>: provide any macromotor as argument
#%BR%- <coord>: can be Work/Tool/ ...
#%BR% - returns -2 if controler does not respond, or the response string.
def hxp100_coord_get(mne,coord)'{
local mysock mynum hxp_conf mystr1 myresp
__hxp100_debug ">>> hxp100_coord_get ", mne , coord
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
split(mysock,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100_coord_get ", HXP_SOCK , HXP_GROUPNAME
mystr1 = sprintf("HexapodCoordinateSystemGet(%s,%s,double *,double *, double *,double *, double *,double *)",HXP_GROUPNAME,coord)
myresp = hxp100_write_and_get(mne,mystr1)
return myresp
}'
#%UU%(mne,coord,pos_x,pos_y,pos_z,pos_u,pos_v,pos_w)
#%MDESC% sets the coordinate system position
#%BR%- <mne>: provide any macromotor as argument
#%BR%- <coord>: can be Work/Tool/ ...
#%BR%- <pos_x>, <pos_y>, <pos_z>, <pos_u>, <pos_v>, <pos_w> : the coord.
def hxp100_coord_put(mne,coord,pos_x,pos_y,pos_z,pos_u,pos_v,pos_w)'{
local mysock mynum hxp_conf mystr1 myresp
__hxp100_debug ">>> hxp100_coord_put ", mne , coord , pos_x, pos_y, pos_z, pos_u, pos_v, pos_w
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
split(mysock,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100_coord_put ", HXP_SOCK , HXP_GROUPNAME
mystr1 = sprintf("HexapodCoordinateSystemSet(%s,%s,%f,%f,%f,%f,%f,%f)",HXP_GROUPNAME,coord, \
pos_x,pos_y,pos_z,pos_u,pos_v,pos_w)
myresp = hxp100_write(mne,mystr1)
}'
#%UU% (mne, string)
#%MDESC% sends the string to the controller
#%BR% - returns -2 if no response
#%BR% - else returns the response
def hxp100_write_and_get(mne,mystr1)'{
local mynum mysock myret nn splitarr err
__hxp100_debug ">>> hxp100_write_and_get ", mne , mystr1
mynum = motor_mne(mne)
mysock = motor_par(mynum,"address")
split(mysock,hxp_conf,":")
HXP_GROUPNAME = hxp_conf[2]
HXP_SOCK = sprintf("%s:%s",hxp_conf[0],hxp_conf[1])
__hxp100_debug ">>> hxp100_write_and_get ", HXP_SOCK , HXP_GROUPNAME
# send the command
if (hxp100_SIMUL == 1) {
__hxp100_debug "... SIMUL sending: " mystr1
return 0
}
else {
__hxp100_debug "... sending: " mystr1
sock_put(HXP_SOCK,mystr1);sleep(HXP_SLEEP)
}
# wait for answer
if (hxp100_SIMUL == 1) {
myret = "0,,EndOfAPI"
__hxp100_debug "... SIMUL received: " myret
}
else {
myret = sock_get(HXP_SOCK)
__hxp100_debug "... received: " myret
}
while ( (myret == "") && (nbtryy >0) ){
# still not answering
__hxp100_debug "..... not yet answering"
myret = sock_get(HXP_SOCK)
nbtryy--
}
if ( (myret == "") && (nbtryy <=0) ){
p "HXP100: ..... HXP100 controller not responding"
return -2
}
else {
return myret
}
}'
#%UU% (theta,dy)
#%MDESC% From an original sample positions, a rotation of the sample
#in the 'Tool' reference induces a circular
#motion in the X,Y plan. We assume that the X axis is made by the 2 following
#points: the center of the circle and the original sample position.
#%BR%To calculate the radius, after this circular motion, you must provide:
#%BR%- theta: angle (in deg) on this circle from the the original sample
#position.
#%BR%- dy: dy displacement in Y axis, from the original sample position
#to this new position.
def hxp100_r(theta,dy)'{
local myr
__hxp100_debug ">>>hxp100_r: from theta, dx, dy: ", theta, dy
myr = fabs(dy)/sin(rad(fabs(theta)))
__hxp100_debug ">>>hxp100_r: calculates radius : ", myr
return myr
}'
#%UU% (theta,rr)
#%MDESC% From an original sample positions, a rotation of the sample
#in the 'Tool' reference induces a circular
#motion in the X,Y plan. We assume that the X axis is made by the 2 following
#points: the center of the circle and the original sample position.
#%BR%This macro calculates the dx and dy displacement to do on the sample to
# send it back to its original sample position. You must provide:
#%BR%- theta: present angle (deg) on this circle, from the original
#sample position.
def hxp100_dxy(theta)'{
local myarr dx dy
__hxp100_debug ">>>hxp100_dxy: from theta, radius: ", theta, HXP_rad
dx = HXP_rad * (1-cos(rad(theta)))
dy = (-1) * HXP_rad * sin(rad(theta))
myarr[0]=dx
myarr[1]=dy
__hxp100_debug ">>>hxp100_r: calculates dx, dy: ", dx, dy
return myarr
}'
#%UU%(radius)
#%MDESC%set the radius
def hxp100_setradius(rr)'{
HXP_rad = rr
}'
#%UU%()
#%MDESC%shows the radius
def hxp100_showradius()'{
return HXP_rad
}'
#%UU%
#%MDESC%Adjust Z of Tool coordinate by moving the rotation X or Y.
#%BR%Needs that hxp100_list has been run before (for motor names definition).
# rotation put in Work system !!!!
def hxp100_adjustZ'{
global HXP_adj HXP_userot HXP_rotinc
local mystr myresp myarr motrot mycont mywait
p "Procedure for adjusting Z Tool position"
HXP_userot = getval(" - Rotate on X or Y ? [0:X, 1:Y]",HXP_userot)
HXP_rotinc = getval(" which increment for rotating (in deg):",HXP_rotinc)
p "Interactive procedure starting. You will be able to quit by typing ctrlC"
# define the index in HXP array : [0:x, 1:y, 2:z, 3:rx, 4:ry, 5:rz]
if (HXP_userot == 0 ) {
motrot = 3
}
else {
motrot = 4
}
# now loop
while (1){
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc)
p "doing " mystr
eval(mystr)
mywait = getval("You are now at " HXP_rotinc " - press to continue",mywait)
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc*(-2))
p "doing " mystr
eval(mystr)
mywait = getval("You are now at " HXP_rotinc*(-1) " - press to return to zero",mywait)
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc)
p "doing " mystr
eval(mystr)
mystr = sprintf("hxp100_coord_get(%s,\"Work\")",HXP[0])
myresp = eval(mystr)
p "get: ",myresp
HXP_adj = getval("which correction on Z (in mm)?",HXP_adj)
split(myresp,myarr,",")
mystr = sprintf("hxp100_coord_put(%s,\"Work\",%f,%f,%f,%f,%f,%f)",HXP[0],myarr[1],myarr[2],(myarr[3]+HXP_adj),myarr[4],myarr[5],myarr[6])
p "doing: " mystr
eval(mystr)
mystr = sprintf("hxp100_coord_get(%s,\"Work\")",HXP[0])
myresp = eval(mystr)
p "get: ",myresp
sync
sync
}
}'
#%UU%
#%MDESC%Adjust Y of Tool coordinate by moving the rotation X or Z.
#%BR%Needs that hxp100_list has been run before (for motor names definition).
# rotation put in Work system !!!!
def hxp100_adjustY'{
global HXP_adj HXP_userot HXP_rotinc
local mystr myresp myarr motrot mywait
p "Procedure for adjusting Y Tool position"
HXP_userot = getval(" - Rotate on X or Z ? [0:X, 1:Z]",HXP_userot)
HXP_rotinc = getval(" which increment for rotating (in deg):",HXP_rotinc)
p "Interactive procedure starting. You will be able to quit by typing ctrlC"
# define the index in HXP array : [0:x, 1:y, 2:z, 3:rx, 4:ry, 5:rz]
if (HXP_userot == 0 ) {
motrot = 3
}
else {
motrot = 5
}
# now loop
while (1){
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc)
p "doing " mystr
eval(mystr)
mywait = getval("You are now at " HXP_rotinc " - press to continue",mywait)
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc*(-2))
p "doing " mystr
eval(mystr)
mywait = getval("You are now at " HXP_rotinc*(-1) " - press to return to zero",mywait)
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc)
p "doing " mystr
eval(mystr)
mystr = sprintf("hxp100_coord_get(%s,\"Work\")",HXP[0])
myresp = eval(mystr)
p "get: ",myresp
HXP_adj = getval("which correction on Y (in mm)?",HXP_adj)
split(myresp,myarr,",")
mystr = sprintf("hxp100_coord_put(%s,\"Work\",%f,%f,%f,%f,%f,%f)",HXP[0],myarr[1],(myarr[2]+HXP_adj),myarr[3],myarr[4],myarr[5],myarr[6])
p "doing: " mystr
eval(mystr)
mystr = sprintf("hxp100_coord_get(%s,\"Work\")",HXP[0])
myresp = eval(mystr)
p "get: ",myresp
sync
sync
}
}'
#%UU%
#%MDESC%Adjust X of Tool coordinate by moving the rotation Y or Z.
#%BR%Needs that hxp100_list has been run before (for motor names definition).
# rotation put in Work system !!!!
def hxp100_adjustX'{
global HXP_adj HXP_userot HXP_rotinc
local mystr myresp myarr motrot mywait
p "Procedure for adjusting Y Tool position"
HXP_userot = getval(" - Rotate on Y or Z ? [0:Y, 1:Z]",HXP_userot)
HXP_rotinc = getval(" which increment for rotating (in deg):",HXP_rotinc)
p "Interactive procedure starting. You will be able to quit by typing ctrlC"
# define the index in HXP array : [0:x, 1:y, 2:z, 3:rx, 4:ry, 5:rz]
if (HXP_userot == 0 ) {
motrot = 4
}
else {
motrot = 5
}
# now loop
while (1){
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc)
p "doing " mystr
eval(mystr)
mywait = getval("You are now at " HXP_rotinc " - press to continue",mywait)
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc*(-2))
p "doing " mystr
eval(mystr)
mywait = getval("You are now at " HXP_rotinc*(-1) " - press to return to zero",mywait)
mystr = sprintf("umvr %s %f",HXP[motrot],HXP_rotinc)
p "doing " mystr
eval(mystr)
mystr = sprintf("hxp100_coord_get(%s,\"Work\")",HXP[0])
myresp = eval(mystr)
p "get: ",myresp
HXP_adj = getval("which correction on X (in mm)?",HXP_adj)
split(myresp,myarr,",")
mystr = sprintf("hxp100_coord_put(%s,\"Work\",%f,%f,%f,%f,%f,%f)",HXP[0],(myarr[1]+HXP_adj),myarr[2],myarr[3],myarr[4],myarr[5],myarr[6])
p "doing: " mystr
eval(mystr)
mystr = sprintf("hxp100_coord_get(%s,\"Work\")",HXP[0])
myresp = eval(mystr)
p "get: ",myresp
sync
sync
}
}'
#%UU%<mne_x> <mne_y> <mne_z> <mne_rotx> <mne_roty> <mne_rotz>
#%MDESC%Gives the list of motors for the hexapode.
if (whatis("HXP_nb") == 0) {HXP_nb = 0}
def hxp100_list'{
global HXP
local ii myarr nbmot
#should be 6
nbmot = 6
if (nbmot != 6) {
p "usage: hxp100_list <mne_x> <mne_y> <mne_z> <mne_rotx> <mne_roty> <mne_rotz>"
exit
}
split("$*",myarr)
for (ii=0; ii<nbmot; ii++) {
HXP[ii] = myarr[ii]
}
}'
#%MACROS%
#%IMACROS%
#%LOG%
#$Revision: 1.8 $
#$Log: hxp100.mac,v $
#Revision 1.8 2013/03/19 14:45:26 domingue
#modify hxp100_adjustX and hxp100_adjustY
#
#Revision 1.7 2012/11/21 16:15:31 domingue
#set optimal Z position to 13mm instead of 14mm
#
#Revision 1.6 2012/11/16 09:33:17 domingue
#hxp100_list;hxp100_adjustX ...;improve hxp100_home;
#
#Revision 1.5 2012/07/09 12:49:47 beteva
#added check for controller not responding to avoid endless motors reading
#
#Revision 1.4 2012/06/21 13:03:14 domingue
#set scale to 1 if 0
#
#Revision 1.2 2011/07/18 14:00:30 domingue
#add hxp100_coord_get; hxp100_coord_put; hxp100_write_and_get
#
#Revision 1.1 2011/07/04 07:13:01 domingue
#Initial revision
#
#
#%AUTHOR% mcd june 2011
#%TOC%
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