#$Log: tab3.mac,v $
#Revision 1.6 2012/03/20 09:03:39 papillon
#* update from master repository xrme
#( new geo for id21 added )
#
#Revision 1.5 2004/01/21 10:32:42 rey
#Bug with index in hgtmove corrected
#
#Revision 1.4 2003/12/09 16:56:55 papillon
#add bm25 geometry (7)
#
#Revision 1.3 2003/06/10 13:42:04 rey
#Bug corrected in t3_geo switch
#
#Revision 1.2 2003/02/27 08:20:38 rey
#*** empty log message ***
#
#Revision 1.1 2003/02/25 09:09:13 rey
#Initial revision
#
#Revision 1.3 2003/01/31 20:01:54 ahoms
#Fixed bug in position calc.: old z variable
#
#Revision 1.2 2002/03/07 17:52:45 beteva
#added id29 (geometry 5).
#
#%TITLE% NTAB3.MAC
#%NAME%
# Macros to control three leg table(s) with logical motors
# xtilt, ytilt and height
#%DESCRIPTION%
# A table with three legs in triangle. One in the front and two in the
# back is a common positioning element in ESRF beamlines. This macros
# implement tilts and height for this kind of table as pseudomotors.
# This macros can use different geometries.
# More than one table can be defined in this way in the same spec
# application.%BR%
#
# For geometry 0 (standard):%BR%
# Xtilt is the angle defined by the two back legs.
# Fixed a middle point B between the two back legs. The height in the
# middle point between B and the front leg gives the value for the
# motor height. The motor Ytilt is defined as the angle existing
# between B and front leg.
#
# Two parameters must be input to the system: the distance between the
# two back legs and the distance between B and the front leg.
# In this geometry distances are given in mm. Angles in mrad.%BR%
# For geometry 1 (side front leg):%BR%
# The front leg is on the same side and aligned with the first motor.
# The fixed point is in the middle of the mirror. For positive x tilt
# is motor 1 higher up then motor 2. For positive y tilt is the
# front motor higher up then the two back motors.%BR%
# For geometry 2 (ID22 mirror):%BR%
# Xtilt is the angle defined by the two back legs, but only leg2 moves
# when a xtilt is requested. Ytilt and Height are defined in the line
# defined by leg1 and front. For the two movements leg2 follows leg1.%BR%
# For geometry 3 (ID21 mirror):%BR%
# Xtilt is the angle defined by the two back legs.
# Fixed a middle point B between the two back legs. The value of this
# point gives the value for the motor Height. The motor Ytilt is
# defined as the angle existing between B and front leg.
# Two parameters must be input to the system: the distance between the
# two back legs and the distance between B and the front leg.
# In this geometry distances are given in mm. Angles in mrad.%BR%
# For geometry 4 (ID20):%BR%
# For geometry 5 (ID29 mirror):%BR%
# Xtilt is the angle defined by the two back legs.
# B is the middle distance point between the two back legs. C is at
# fixed distance between B and the front leg, used to calculate the
# height. The Ytilt is defined as the angle between B and the front leg.
# Three parameters needed: the distance between the two back legs,
# between B and the front leg and between C and the front leg (all
# given in mm). Calculated angles in mrad.%BR%
# For geometry 6 (ID30):%BR%
# For geometry 7 (????????):%BR%
# For geometry 8 (ID21 KB):%BR%
# l1 and l2 are the 2 back leg. lf is the front leg
# the angle between (l1-l2) and (l1-lf) is orthogonal
# B is the mildle of (l1-l2).
# C is the middle of (l1-lf).
# YTilt rotation axis pass by B and is parallel to (l1-lf)
# XTilt rotation axis paas by C and is parallel to (l1-l2)
# Height is defined by the intersection of the 2 rotation axis
#
# All motors must be defined in config.
#
#%EXAMPLE%
#%DL%
#%DT% tab3setup table1 0 122 422 tab1 tab2 tabf xti yti hgt
# Defines a table named "table1", geometry 0, distances 122 and 422 and
# motor names. To define other tables call tab3setup again changing the
# table name
#
#%DT% mvr hgt 3
# Moves relative height 3 mm. this will move all tab motors up 3 mm.
#%DT% ascan xti 0 3 10 1
# Will scan on angles xti between 0 and 3 stopping in 10 intermediate
# points and counting for one second at each point
#%XDL%
#%END%
#
#
#%UU%
#%MDESC% Setup one table in the system
#
def tab3setup '{
global TAB3PAR
local t3_mne t3_geo t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_d1 t3_d2 t3_d3
local t3_trm t3_trl
list_test TAB3PAR
#
# Set values.
if (($# < 10) || ($# > 12)) {
t3_mne=getval("Name for the table (no space)",sprintf("%d",list_n(TAB3PAR)))
if (index(t3_mne, " ") != 0) {
p "Name for table must not contain any space character"
exit
}
if (t3_mne == 1) {
t3_mne = "tab3_1"
}
if (list_check(TAB3PAR, t3_mne)) {
t3_geo = list_getpar(TAB3PAR, t3_mne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_mne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_mne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_mne, "a")
t3_bl1 = list_getpar(TAB3PAR, t3_mne, "bl1")
t3_bl2 = list_getpar(TAB3PAR, t3_mne, "bl2")
t3_fro = list_getpar(TAB3PAR, t3_mne, "fro")
t3_xti = list_getpar(TAB3PAR, t3_mne, "xti")
t3_yti = list_getpar(TAB3PAR, t3_mne, "yti")
t3_hgt = list_getpar(TAB3PAR, t3_mne, "hgt")
t3_trm = list_getpar(TAB3PAR, t3_mne, "trm")
t3_trl = list_getpar(TAB3PAR, t3_mne, "trl")
} else {
t3_geo = 0
t3_d1 = 0
t3_d2 = 0
t3_d3 = 0
t3_bl1 = ""
t3_bl2 = ""
t3_fro = ""
t3_xti = ""
t3_yti = ""
t3_hgt = ""
t3_trm = ""
t3_trl = 0
}
t3_geo = getval("Geometry for table(0=standard,see help for others)",t3_geo)
t3_d1 = getval("\tDistance between the two back legs",t3_d1)
t3_d2 = getval("\tDistance between the front leg and the back",t3_d2)
if (t3_geo == 5)
t3_d3 = getval("\tDistance between front leg and center of rotation",t3_d3)
printf(" Motor names\n")
t3_bl1 = getval("\tBack leg 1",t3_bl1)
t3_bl2 = getval("\tBack leg 2",t3_bl2)
t3_fro = getval("\tFront leg",t3_fro)
t3_xti = getval("\tX Tilt(angle between back legs)",t3_xti)
t3_yti = getval("\tY Tilt(angle between front and back)",t3_yti)
t3_hgt = getval("\tHeight",t3_hgt)
if (t3_geo == 7) {
printf(" Table Translation\n")
t3_trm = getval("\tTranslation motor", t3_trm)
t3_trl = getval("\tTranslation limit", t3_trl)
}
}
else {
t3_mne = "$1"
if (t3_mne == 1) {
t3_mne = "tab3_1"
}
t3_geo = $2
t3_d1 = $3
t3_d2 = $4
if (t3_geo == 5) {
t3_d3 = $5
t3_bl1 = "$6"
t3_bl2 = "$7"
t3_fro = "$8"
t3_xti = "$9"
t3_yti = "$10"
t3_hgt = "$11"
} else {
t3_d3 = 0
t3_bl1 = "$5"
t3_bl2 = "$6"
t3_fro = "$7"
t3_xti = "$8"
t3_yti = "$9"
t3_hgt = "$10"
}
if (t3_geo==7) {
t3_trm = "$11"
t3_trl = $12
}
}
if (index(t3_mne, " ") != 0) {
p "Name for table must not contain any space character"
exit
}
if ((t3_geo != 0)&&\
(t3_geo!=1)&&\
(t3_geo!=2)&&\
(t3_geo!=3)&&\
(t3_geo!=4)&&\
(t3_geo!=5)&&\
(t3_geo!=6)&&\
(t3_geo!=7)&&\
(t3_geo!=8)) {
printf("This geometry is not implemented yet\n")
exit
}
if (motor_num(t3_bl1) == -1) {
printf("motor \"%s\" does not exist\n", t3_bl1)
exit
}
if (motor_num(t3_bl2) == -1) {
printf("motor \"%s\" does not exist\n", t3_bl2)
exit
}
if (motor_num(t3_fro) == -1) {
printf("motor \"%s\" does not exist\n", t3_fro)
exit
}
if (motor_num(t3_xti) == -1) {
printf("motor \"%s\" does not exist\n", t3_xti)
exit
}
if (motor_num(t3_yti) == -1) {
printf("motor \"%s\" does not exist\n", t3_yti)
exit
}
if (motor_num(t3_hgt) == -1) {
printf("motor \"%s\" does not exist\n", t3_hgt)
exit
}
_tab3off(t3_mne)
list_add(TAB3PAR, t3_mne)
list_setpar(TAB3PAR, t3_mne, "geo", t3_geo)
list_setpar(TAB3PAR, t3_mne, "d1" , t3_d1)
list_setpar(TAB3PAR, t3_mne, "d2" , t3_d2)
list_setpar(TAB3PAR, t3_mne, "a" , t3_d3)
list_setpar(TAB3PAR, t3_mne, "bl1", t3_bl1)
list_setpar(TAB3PAR, t3_mne, "bl2", t3_bl2)
list_setpar(TAB3PAR, t3_mne, "fro", t3_fro)
list_setpar(TAB3PAR, t3_mne, "xti", t3_xti)
list_setpar(TAB3PAR, t3_mne, "yti", t3_yti)
list_setpar(TAB3PAR, t3_mne, "hgt", t3_hgt)
list_setpar(TAB3PAR, t3_mne, "mne", t3_mne)
if (t3_geo==7) {
list_setpar(TAB3PAR, t3_mne, "trm", t3_trm)
list_setpar(TAB3PAR, t3_mne, "trl", t3_trl)
}
_tab3on(t3_mne)
setup_tail("tab3", t3_mne)
}'
#%UU% (table-mnemonic)
#%MDESC%
# Delete definitions for one table
#
def tab3unsetup '{
local t3_mne
t3_mne = "$1"
_tab3off(t3_mne)
list_remove(TAB3PAR, t3_mne)
}'
#%UU%
#%MDESC% Shows a list with the actual configuration in this system
#
def tab3show '{
local t3_n
t3_n = list_n(TAB3PAR)
printf("%d Three leg tables defined in this system:", t3_n)
printf("\n\n")
for (i=1;i<=t3_n;i++) {
printf(" Table \"%s\" :\n", list_getpar(TAB3PAR, i, "mne"))
printf(" bl1: %5s xti: %5s\n",list_getpar(TAB3PAR,i,"bl1"),list_getpar(TAB3PAR,i,"xti"))
printf(" bl2: %5s yti: %5s\n",list_getpar(TAB3PAR,i,"bl2"),list_getpar(TAB3PAR,i,"yti"))
printf(" fro: %5s hgt: %5s\n\n",list_getpar(TAB3PAR,i,"fro"),list_getpar(TAB3PAR,i,"hgt"))
}
}'
#%IU%
#%MDESC%
# === Use only in geometry 7 ===
# Read translation motor to determine which geometry to use
# Use parameter \"a\" to set a flag
#
def tab3_trmset '{
local trmnum trmval
trmnum= motor_num(list_getpar(TAB3PAR, $1, "trm"))
if (A[trmnum]>list_getpar(TAB3PAR, $1, "trl")) {
list_setpar(TAB3PAR, $1, "a", 1)
} else {
list_setpar(TAB3PAR, $1, "a", 0)
}
}'
#%IU%
#%MDESC%
#
# Read position from controller for bl1.
#
def tab3_bl1get '{
list_setpar(TAB3PAR, "$2", "bl1oldpos", A[$1])
}'
#%IU%
#%MDESC%
#
# Read position from controller for bl2.
#
def tab3_bl2get '{
list_setpar(TAB3PAR, "$2", "bl2oldpos", A[$1])
}'
#%IU%
#%MDESC%
#
# Read position from controller for fro.
#
def tab3_froget '{
list_setpar(TAB3PAR, "$2", "frooldpos", A[$1])
}'
#%IU%
#%MDESC%
# Calculates xti from tab1, tab2, tabf
#
def tab3_xtiget '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
if (t3_geo==7) {
tab3_trmset t3_tabmne
}
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
A[t3_motmne] = tab3_tf(3,A[t3_bl1],A[t3_bl2],A[t3_fro], A[t3_xti],\
A[t3_yti],A[t3_hgt],t3_geo,t3_d1,t3_d2, t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "xtioldpos", A[t3_motmne])
}'
#%IU%
#%MDESC%
# Calculates yti from tab1, tab2, tabf
#
def tab3_ytiget '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
if (t3_geo==7) {
tab3_trmset t3_tabmne
}
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
A[t3_motmne] = tab3_tf(4,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt],t3_geo,t3_d1,t3_d2, t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "ytioldpos", A[t3_motmne])
}'
#%IU%
#%MDESC%
# Calculates hgt from tab1, tab2, tabf
#
def tab3_hgtget '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
if (t3_geo==7) {
tab3_trmset t3_tabmne
}
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
A[t3_motmne] = tab3_tf(5,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt], t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "hgtoldpos", A[t3_motmne])
}'
#%IU%
#%MDESC%
# Moves tab1 when xti, yti or hgt change
#
def tab3_bl1move '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
if ((list_getpar(TAB3PAR, t3_tabmne, "xtioldpos") != A[t3_xti]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "ytioldpos") != A[t3_yti]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "hgtoldpos") != A[t3_hgt])) {
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
A[t3_motmne] = tab3_tf(0,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt],\
t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "bl1oldpos", A[t3_motmne])
}
}'
#%IU%
#%MDESC%
# Moves tab2 when xti, yti or hgt change
#
def tab3_bl2move '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
if ((list_getpar(TAB3PAR, t3_tabmne, "xtioldpos") != A[t3_xti]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "ytioldpos") != A[t3_yti]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "hgtoldpos") != A[t3_hgt])) {
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
A[t3_motmne] = tab3_tf(1,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt], \
t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "bl2oldpos", A[t3_motmne])
}
}'
#%IU%
#%MDESC%
# Moves tabf when xti, yti or hgt change
#
def tab3_fromove '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
if ((list_getpar(TAB3PAR, t3_tabmne, "xtioldpos") != A[t3_xti]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "ytioldpos") != A[t3_yti]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "hgtoldpos") != A[t3_hgt])) {
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
A[t3_motmne] = tab3_tf(2,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt],\
t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "frooldpos", A[t3_motmne])
}
}'
#%IU%
#%MDESC%
#
def tab3_xtimove '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
if ((list_getpar(TAB3PAR, t3_tabmne, "bl1oldpos") != A[t3_bl1]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "bl2oldpos") != A[t3_bl2]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "frooldpos") != A[t3_fro])) {
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
A[t3_motmne] = tab3_tf(3,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt],\
t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "xtioldpos", A[t3_motmne])
}
}'
#%IU%
#%MDESC%
#
def tab3_ytimove '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
if ((list_getpar(TAB3PAR, t3_tabmne, "bl1oldpos") != A[t3_bl1]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "bl2oldpos") != A[t3_bl2]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "frooldpos") != A[t3_fro])) {
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
A[t3_motmne] = tab3_tf(4,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt],\
t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "ytioldpos", A[t3_motmne])
}
}'
#%IU%
#%MDESC%
#
def tab3_hgtmove '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo t3_d1 t3_d2 t3_tabmne t3_motmne t3_d3
t3_motmne = $1
t3_tabmne = "$2"
t3_bl1 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl1"))
t3_bl2 = motor_num(list_getpar(TAB3PAR, t3_tabmne, "bl2"))
t3_fro = motor_num(list_getpar(TAB3PAR, t3_tabmne, "fro"))
if ((list_getpar(TAB3PAR, t3_tabmne, "bl1oldpos") != A[t3_bl1]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "bl2oldpos") != A[t3_bl2]) ||\
(list_getpar(TAB3PAR, t3_tabmne, "frooldpos") != A[t3_fro])) {
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_d1 = list_getpar(TAB3PAR, t3_tabmne, "d1")
t3_d2 = list_getpar(TAB3PAR, t3_tabmne, "d2")
t3_d3 = list_getpar(TAB3PAR, t3_tabmne, "a")
t3_xti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "xti"))
t3_yti = motor_num(list_getpar(TAB3PAR, t3_tabmne, "yti"))
t3_hgt = motor_num(list_getpar(TAB3PAR, t3_tabmne, "hgt"))
A[t3_motmne] = tab3_tf(5,A[t3_bl1],A[t3_bl2],A[t3_fro],\
A[t3_xti],A[t3_yti],A[t3_hgt],\
t3_geo,t3_d1,t3_d2,t3_d3)
list_setpar(TAB3PAR, t3_tabmne, "hgtoldpos", A[t3_motmne])
}
}'
#%IU% (calcidx , tbl1, tbl2, front, xti, yti, z, mode , d1, d2,d3)
#%MDESC% calcidx gives the index of the value to be calculated. Indexes are
# starting from 0 (tbl1) and go to 5 (z). The 3 leg motors and the 3 pseudo
# motors are all the time given. Depending on calcidx only 3 of them are used
# in the calculation. The mode allows for different geometries. d1 and d2 are
# the distances between the legs. d3 is the distance between the front leg
#and the center of the rotation.
def tab3_tf(calcidx,t3_bl1,t3_bl2,t3_fro,t3_xti,t3_yti,t3_hgt,mode,d1,d2,d3) '{
local reverse res
if (calcidx > 2 )
reverse = 1
if (mode == 0) {
if (reverse) {
res[3] = 1000*atan( (t3_bl2 - t3_bl1) / d1 ) # xti
res[4] = 1000*atan( ( (t3_bl1 + t3_bl2)/2 - t3_fro) / d2) # yti
res[5] = (t3_bl1 + t3_bl2 + 2*t3_fro)/4 # z
} else {
res[0] = t3_hgt - d1 * tan(t3_xti/1000) / 2+d2*tan(t3_yti/1000)/2 # tbl 1
res[1] = t3_hgt + d1 * tan(t3_xti/1000) / 2+d2*tan(t3_yti/1000)/2 # tbl 2
res[2] = t3_hgt - d2 * tan(t3_yti/1000) / 2 # front
}
}
if (mode == 1) {
if (reverse) {
res[3] = 1000*atan( (t3_bl2 - t3_bl1) / d1 ) # xti
res[4] = 1000*atan( (t3_fro - t3_bl1) / d2 ) # yti
res[5] = (t3_bl2 + t3_fro)/2 # z
} else {
res[0] = t3_hgt - d1 * tan(t3_xti/1000) / 2 - d2*tan(t3_yti/1000) / 2 # tbl 1
res[1] = t3_hgt + d1 * tan(t3_xti/1000) / 2 - d2*tan(t3_yti/1000) / 2 # tbl 2
res[2] = t3_hgt + d2 * tan(t3_yti/1000) / 2 - d1*tan(t3_xti/1000) / 2 # front
}
}
if (mode == 2) {
if (reverse) {
res[3] = deg(atan( (t3_bl2 - t3_bl1) / d1 )) # xti
res[4] = deg(atan( (t3_bl1 - t3_fro) / d2 )) # yti
res[5] = (t3_bl1 + t3_fro)/2 # z
} else {
res[0] = t3_hgt + d2 * tan(rad(t3_yti))/2 # tbl 1
res[1] = t3_hgt + d2 * tan(rad(t3_yti))/2 + d1 * tan(rad(t3_xti)) # tbl 2
res[2] = t3_hgt - d2 * tan(rad(t3_yti))/2 # front
}
}
if (mode == 3) {
if (reverse) {
res[3] = 1000*atan( (t3_bl2 - t3_bl1) / d1 ) # xti
res[4] = 1000*atan( ( (t3_bl1 + t3_bl2)/2 - t3_fro) / d2) # yti
res[5] = (t3_bl1 + t3_bl2)/2 # z
} else {
res[0] = t3_hgt - d1 * tan(t3_xti/1000) / 2 # tbl 1
res[1] = t3_hgt + d1 * tan(t3_xti/1000) / 2 # tbl 2
res[2] = t3_hgt - d2 * tan(t3_yti/1000) # front
}
}
if (mode == 4) {
if (reverse) {
res[3] = 1000*atan( (t3_bl2 - t3_bl1) / d1 ) # xti
res[4] = 1000*atan( ( t3_fro - (t3_bl1 + t3_bl2)/2 ) / d2) # yti
res[5] = (t3_bl1 + t3_bl2 + 2*t3_fro)/4 # hgt
} else {
res[0] = t3_hgt - d1 * tan(t3_xti/1000) / 2 - d2 * tan(t3_yti/1000) / 2 # tbl 1
res[1] = t3_hgt + d1 * tan(t3_xti/1000) / 2 - d2 * tan(t3_yti/1000) / 2 # tbl 2
res[2] = t3_hgt + d2 * tan(t3_yti/1000) / 2 # front
}
}
if (mode == 5) {
if (reverse) {
res[3] = 1000*atan( (t3_bl2 - t3_bl1) / d1 ) # xti
res[4] = 1000*atan( ( (t3_bl1 + t3_bl2)/2 - t3_fro) / d2) # yti
res[5] = t3_fro + ( (t3_bl1 + t3_bl2)/2 - t3_fro) * (d3/d2) #z
} else {
res[0] = t3_hgt - d1 * tan(t3_xti/1000) / 2 + (d2 - d3)*tan(t3_yti/1000) #tbl 1
res[1] = t3_hgt + d1 * tan(t3_xti/1000) / 2 + (d2 - d3)*tan(t3_yti/1000) #tbl 2
res[2] = t3_hgt - d3 * tan(t3_yti/1000) #front
}
}
if (mode == 6) {
if (reverse) {
res[3] = deg( atan( (t3_bl2 - t3_bl1) / d1 ) ) # xti
res[4] = deg( atan( ( (t3_bl1 + t3_bl2)/2 - t3_fro) / d2) ) # yti
res[5] = (t3_bl1 + t3_bl2) / 2 # z
} else {
res[0] = t3_hgt - d1 * tan( rad(t3_xti) ) / 2 # tbl 1
res[1] = t3_hgt + d1 * tan( rad(t3_xti) ) / 2 # tbl 2
res[2] = t3_hgt - d2 * tan( rad(t3_yti) ) # front
}
}
if (mode == 7) {
if (d3==0) {
if (reverse) {
res[3] = 1000*atan((t3_bl2 - t3_bl1)/d1) # xti
res[4] = 1000*atan( ( (3*t3_bl1 + t3_bl2)/4 - t3_fro) / d2) # yti
res[5] = ((3*t3_bl1 + t3_bl2)/4 + t3_fro)/2 # z
} else {
res[0] = t3_hgt + d2*tan(t3_yti/1000)/2 - d1*tan(t3_xti/1000)/4
res[1] = t3_hgt + d2*tan(t3_yti/1000)/2 + 3*d1*tan(t3_xti/1000)/4
res[2] = t3_hgt - d2*tan(t3_yti/1000)/2
}
} else {
if (reverse) {
res[3] = 1000*atan((t3_bl1 - t3_bl2)/d1) # xti
res[4] = 1000*atan(((t3_bl1+3*t3_bl2)/4 - t3_fro)/d2) # yti
res[5] = ((t3_bl1 + 3*t3_bl2)/4 + t3_fro)/2 # z
} else {
res[0] = t3_hgt + d2*tan(t3_yti/1000)/2 + 3*d1*tan(t3_xti/1000)/4
res[1] = t3_hgt + d2*tan(t3_yti/1000)/2 - d1*tan(t3_xti/1000)/4
res[2] = t3_hgt - d2*tan(t3_yti/1000)/2
}
}
}
if (mode == 8) {
#print reverse, d1, d2, t3_hgt, t3_xti, t3_yti
if (reverse) {
res[3] = 1000*atan( (t3_bl2 - t3_bl1) / d1 ) # xti
res[4] = -1000*atan((t3_fro - t3_bl1) / d2) # yti
res[5] = t3_fro + (t3_bl1 - t3_fro)/2 + (t3_bl2 - t3_bl1)/2 # z
} else {
res[0] = t3_hgt - d1*tan(t3_xti/1000)/2 + d2*tan(t3_yti/1000)/2 # tbl 1
res[1] = t3_hgt + d1*tan(t3_xti/1000)/2 + d2*tan(t3_yti/1000)/2 # tbl 2
res[2] = t3_hgt - d1*tan(t3_xti/1000)/2 - d2*tan(t3_yti/1000)/2 # front
}
}
return res[calcidx];
}'
#%UU% table-number
#%MDESC%
#
# Sets on the track between table and logical motors
#
def tab3on '{
local t3_tabmne
t3_tabmne = "$1"
if (list_check(TAB3PAR, t3_tabmne)) {
_tab3on(t3_tabmne)
} else {
printf("tab3 \"%s\" does not exist\n", t3_tabmne)
}
}'
def _tab3on(t3_tabmne) '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti t3_hgt
local t3_geo
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_bl1 = list_getpar(TAB3PAR, t3_tabmne, "bl1")
t3_bl2 = list_getpar(TAB3PAR, t3_tabmne, "bl2")
t3_fro = list_getpar(TAB3PAR, t3_tabmne, "fro")
t3_xti = list_getpar(TAB3PAR, t3_tabmne, "xti")
t3_yti = list_getpar(TAB3PAR, t3_tabmne, "yti")
t3_hgt = list_getpar(TAB3PAR, t3_tabmne, "hgt")
cdef("user_getpangles", sprintf("tab3_bl1get %d %s\n", motor_num(t3_bl1), \
t3_tabmne), t3_bl1, 0x01)
cdef("user_checkall", sprintf("tab3_bl1move %d %s\n",motor_num(t3_bl1), \
t3_tabmne), t3_bl1, 0x01)
cdef("user_getpangles", sprintf("tab3_bl2get %d %s\n", motor_num(t3_bl2), \
t3_tabmne), t3_bl2, 0x01)
cdef("user_checkall", sprintf("tab3_bl2move %d %s\n",motor_num(t3_bl2), \
t3_tabmne), t3_bl2, 0x01)
cdef("user_getpangles", sprintf("tab3_froget %d %s\n", motor_num(t3_fro), \
t3_tabmne), t3_fro, 0x01)
cdef("user_checkall", sprintf("tab3_fromove %d %s\n",motor_num(t3_fro), \
t3_tabmne) , t3_fro, 0x01)
cdef("user_getpangles", sprintf("tab3_xtiget %d %s\n", motor_num(t3_xti), \
t3_tabmne), t3_xti, 0x01)
cdef("user_checkall", sprintf("tab3_xtimove %d %s\n",motor_num(t3_xti), \
t3_tabmne) , t3_xti, 0x01)
cdef("user_getpangles", sprintf("tab3_ytiget %d %s\n", motor_num(t3_yti), \
t3_tabmne), t3_yti, 0x01)
cdef("user_checkall", sprintf("tab3_ytimove %d %s\n",motor_num(t3_yti), \
t3_tabmne) , t3_yti, 0x01)
cdef("user_getpangles", sprintf("tab3_hgtget %d %s\n", motor_num(t3_hgt), \
t3_tabmne), t3_hgt, 0x01)
cdef("user_checkall", sprintf("tab3_hgtmove %d %s\n",motor_num(t3_hgt), \
t3_tabmne) , t3_hgt, 0x01)
list_setpar(TAB3PAR, t3_tabmne, "state", 1)
}'
#%UU% table-number
#%MDESC%
#
# Sets off the track between table and logical motors
#
def tab3off '{
local t3_tabmne
if ($# == 0) {
t3_tabmne=getval("table mnemonic to set off",list_getpar(TAB3PAR,1,"mne"))
} else if ($# == 1) {
t3_tabmne = "$1"
} else {
p "Usage : tab3off [table mnemonic]"
exit
}
if (list_check(TAB3PAR, t3_tabmne)) {
_tab3off(t3_tabmne)
} else {
printf("tab3 \"%s\" does not exist\n", t3_tabmne)
}
}'
def _tab3off(t3_tabmne) '{
local t3_bl1 t3_bl2 t3_fro t3_xti t3_yti y3_hgt
local t3_geo
t3_geo = list_getpar(TAB3PAR, t3_tabmne, "geo")
t3_bl1 = list_getpar(TAB3PAR, t3_tabmne, "bl1")
t3_bl2 = list_getpar(TAB3PAR, t3_tabmne, "bl2")
t3_fro = list_getpar(TAB3PAR, t3_tabmne, "fro")
t3_xti = list_getpar(TAB3PAR, t3_tabmne, "xti")
t3_yti = list_getpar(TAB3PAR, t3_tabmne, "yti")
t3_hgt = list_getpar(TAB3PAR, t3_tabmne, "hgt")
cdef("", "", t3_bl1, "delete")
cdef("", "", t3_bl2, "delete")
cdef("", "", t3_fro, "delete")
cdef("", "", t3_xti, "delete")
cdef("", "", t3_yti, "delete")
cdef("", "", t3_hgt, "delete")
list_setpar(TAB3PAR, t3_tabmne, "state", 0)
}'
#%MACROS%
#%IMACROS%
#%DEPENDENCIES%
# To use the table with its pseudomotors the following must be done
#%UL%
#%LI% The file tab3.mac has to be read in done by: startup s.
# (this file needs: pseudo.mac , stchanges.mac)
#%LI% the piezo motors have to be configured done by: SPECADM
# (Controller NONE, mnemonic as in startupscript)
#%LI% setup the table ( with tab3setup ) done by: startup s.
#%XUL%
#%AUTHOR% Vicente Rey. June 1995
#$Revision: 1.6 $, $Date: 2012/03/20 09:03:39 $
#%TOC%
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