#%NAME%
# VSCANNER.MAC - Macros to manage a piezo motor controlled by VSCANNER
# controller via RS232
#%DESCRIPTION%
# This macro file allows to define a piezo motor controlled by vscanner as
# pseudo-motors in SPEC.
# A VSCANNER box (defined by the parameter "dev") can drive up to two motors.
# SPEC parameter "step_size" is taking into account to transform miroV used by
# VSCANNER as unit in user unit.
# SPEC parameter "velocity" ("steady state rate" in edconf) is used to define
# speed used by piezo motor to move from one position to the other. If this
# parameter is set to 0, the motor will be move instantaneously.
# UNIT: "steps / mm" are microVolts/mm
# "steady state" rate is microV/s.
#
#%END%
need spec_utils
#%UU% <mnemonic> <SPEC serial line dev.> <vscanner ch. num.> <sign> <offset>
#%MDESC%
# Add definitions for a piezo pseudomotor
def vscanadd '{
global VSCAN_BOX[] VSCAN_BOXNUM[] VSCAN_PAR[] VSCAN_NBBOX VSCANON
local mne dev chnum nbox devname signe offset resp
if ($# != 5) {
p "Usage : <motor mnemonic> <VSCANNER serial line device> <channel number>"
p " <sign> <offset>"
exit
}
mne = "$1"
dev = $2
chnum = $3
signe = $4
offset = $5
if (motor_num(mne) == -1) {
printf("motor \"%s\" not configured, exit !!!\n", mne)
exit
}
if ((chnum != 1) && (chnum != 2)) {
printf("VSCANNER has 2 channel numbered 1 or 2, exit !!!\n")
exit
}
if ((signe != 1) && (signe != -1))
signe = 1
vscanoff
devname = "VS" dev
for (nbox=0;nbox<VSCAN_NBBOX;nbox++)
if (VSCAN_BOX[nbox]["dev"] == devname)
break
if (nbox == VSCAN_NBBOX) {
VSCAN_BOX[nbox]["dev"] = devname
VSCAN_BOX[nbox][1] = ""
VSCAN_BOX[nbox][2] = ""
VSCAN_BOXNUM[devname] = nbox
isgserial_add(devname, dev, 3, "VSCANNER")
VSCAN_NBBOX++
}
VSCAN_BOX[nbox][chnum] = mne
VSCAN_BOX[nbox]["moving"] = 0
VSCAN_PAR[mne]["sign"] = signe
VSCAN_PAR[mne]["offset"] = offset
resp = isgserial_comm(devname, "?VER")
if (index(resp, "VSCANNER") == 1) {
if (VSCAN_PAR["setup_n"] != SETUP_N)
printf("Using %s on ISG_COMM_DEV %s as %s\n", resp, dev, devname)
VSCAN_PAR["setup_n"] = SETUP_N
motor_par(motor_num(mne), "disable", 0)
isgserial_comm(devname, "NOECHO")
setup_tail("vscan", sprintf("vscan_%s %s %d %d", mne, mne, nbox, chnum))
vscanon
VSCAN_BOX[nbox]["moving"] = 1
vscan_getangles(devname)
} else {
printf("Error communicating to %s on ISG_COMM_DEV %s\n", devname, dev)
printf("Disabling motor %s\n", mne)
motor_par(motor_num(mne), "disable", 1)
}
}'
def vscanunsetup '{
local mne nbox chnum chnumo i
mne = "$2"
nbox = $3
chnum = $4
vscanoff
if (chnum == 1)
chnumo = 2
else
chnumo = 1
if (VSCAN_BOX[nbox][chnumo] == "") {
VSCAN_NBBOX--
for (i=nbox;i<VSCAN_NBBOX;i++)
VSCAN_BOX[i] = VSCAN_BOX[i+1]
} else {
VSCAN_BOX[nbox][chnum] = ""
}
vscanon
}'
#%UU
#%MDESC%
# Shows current piezo pseudomotors definition.
#
def vscanshow '{
local i j
if (VSCAN_NBBOX != 0) {
printf("\VSCANNER pseudomotors are \"%s\"\n\n",VSCANON?"ACTIVE":"NOT ACTIVE")
printf(" Motor Device channel\n")
printf("------------------------------\n")
for (i=0; i<VSCAN_NBBOX; i++) {
for (j=1;j<=2;j++)
if (VSCAN_BOX[i][j] != "")
printf(" %8s %8s %8d\n", VSCAN_BOX[i][j], VSCAN_BOX[i]["dev"], j)
}
} else {
printf("No VSCANNER psuedo motors defined\n")
}
}'
#%UU%
#%MDESC%
# Deactivates definitions for piezo motors pseudomotors.
def vscanoff '{
local i
for (i=0;i<VSCAN_NBBOX; i++)
cdef("", "", VSCAN_BOX[i]["dev"], "delete")
VSCANON=0
}'
#%UU%
#%MDESC%
# Activates definitions for piezo motor pseudomotors.
#
def vscanon '{
local i dev
for (i=0;i<VSCAN_NBBOX; i++) {
dev = VSCAN_BOX[i]["dev"]
cdef("user_checkall" , sprintf("vscan_checkall(\"%s\")\n" , dev), dev)
cdef("user_getpangles", sprintf("vscan_getangles(\"%s\")\n", dev), dev)
cdef("user_motorsrun" , sprintf("vscan_motorsrun %s\n", dev), dev)
}
VSCANON=1
get_angles
printf("Piezo Motor pseudomotors are now ACTIVE\n")
}'
#%IU%
#%MDESC%
# move pseudo motor
def vscan_checkall(dev) '{
local nbox vel comm aux
local mne1 mot1 vel1 motmv1 scan_val1 lin_val1
local mne2 mot2 vel2 motmv2 scan_val2 lin_val2
nbox = VSCAN_BOXNUM[dev]
mot1 = VSCAN_BOX[nbox][1]
mot2 = VSCAN_BOX[nbox][2]
mne1 = motor_num(mot1)
mne2 = motor_num(mot2)
vel1 = vel2 = -1
motmv1 = motmv2 = 0
scan_val1 = scan_val2 = 0
if ((mne1 != -1) && (VSCAN_PAR[mot1]["oldpos"] != A[mne1])) {
aux = VSCAN_PAR[mot1]["sign"] * \
(A[mne1] - VSCAN_PAR[mot1]["offset"]) * motor_par(mne1, "step_size") / 1e6
if (aux > 10)
A[mne1] = VSCAN_PAR[mot1]["sign"] * 10 * 1e6 / motor_par(mne1, "step_size") + \
VSCAN_PAR[mot1]["offset"]
if (aux < 0)
A[mne1] = VSCAN_PAR[mot1]["offset"]
vel1 = motor_par(mne1, "velocity")
if (vel1 == 0) {
motmv1 = 1
lin_val1 = VSCAN_PAR[mot1]["sign"] * \
(A[mne1] - VSCAN_PAR[mot1]["offset"]) * motor_par(mne1, "step_size") / 1e6
} else {
scan_val1 = VSCAN_PAR[mot1]["sign"] * \
(A[mne1] - VSCAN_PAR[mot1]["oldpos"]) * motor_par(mne1, "step_size") / 1e6
}
VSCAN_BOX[nbox]["moving"] = 2
}
if ((mne2 != -1) && (VSCAN_PAR[mot2]["oldpos"] != A[mne2])) {
aux = VSCAN_PAR[mot2]["sign"] * \
(A[mne2] - VSCAN_PAR[mot2]["offset"]) * motor_par(mne2, "step_size") / 1e6
if (aux > 10)
A[mne2] = VSCAN_PAR[mot2]["sign"] * 10 * 1e6 / motor_par(mne2, "step_size") + \
VSCAN_PAR[mot2]["offset"]
if (aux < 0)
A[mne2] = VSCAN_PAR[mot2]["offset"]
vel2 = motor_par(mne2, "velocity")
if (vel2 == 0) {
motmv2 = 1
lin_val2 = VSCAN_PAR[mot2]["sign"] * \
(A[mne2] - VSCAN_PAR[mot2]["offset"]) * motor_par(mne2, "step_size") / 1e6
} else {
scan_val2 = VSCAN_PAR[mot2]["sign"] * \
(A[mne2]-VSCAN_PAR[mot2]["oldpos"]) * motor_par(mne2, "step_size") / 1e6
}
VSCAN_BOX[nbox]["moving"] = 2
}
vel = vel1
if (vel2 > vel1)
vel = vel2
if ((motmv1 != 0) || (motmv2 != 0)) {
comm = sprintf("v")
if (motmv1 != 0)
comm = sprintf("%sx", comm)
if (motmv2 != 0)
comm = sprintf("%sy", comm)
if (motmv1 != 0)
comm = sprintf("%s %g", comm, lin_val1)
if (motmv2 != 0)
comm = sprintf("%s %g", comm, lin_val2)
isgserial_comm(dev, comm)
}
if ((scan_val1 != 0) || (scan_val2 != 0)) {
cdef("cleanup_once", sprintf("vscan_stop %s\n", dev), dev)
comm = sprintf("vel %g", vel/1e9)
isgserial_comm(dev, comm)
comm = sprintf("line %g %g 1 c", scan_val1, scan_val2)
isgserial_comm(dev, comm)
isgserial_comm(dev, "scan 0 0 1 u")
isgserial_comm(dev, "pshape all")
isgserial_comm(dev, "start 1 noret")
}
}'
#%IU%
#%MDESC%
# Read pseudo motor position
def vscan_getangles(dev) '{
local str mne1 mne2 mot1 mot2 nbox
local tab[]
local _read_val
nbox = VSCAN_BOXNUM[dev]
mot1 = VSCAN_BOX[nbox][1]
mot2 = VSCAN_BOX[nbox][2]
mne1 = motor_num(mot1)
mne2 = motor_num(mot2)
if (VSCAN_BOX[nbox]["moving"] != 0) {
str = isgserial_comm(dev, "?vxy")
split(str, tab)
if (mne1 != -1) {
if (tab[0] > 10)
tab[0] = 10
if (tab[0] < 0)
tab[0] = 0
_read_val = VSCAN_PAR[mot1]["sign"] * tab[0] * 1e6 / motor_par(mne1, "step_size") + \
VSCAN_PAR[mot1]["offset"]
if(!is_aprox(VSCAN_PAR[mot1]["oldpos"], _read_val, 0.0001)){
A[mne1] = _read_val
VSCAN_PAR[mot1]["oldpos"] = _read_val
}
}
if (mne2 != -1) {
if (tab[1] > 10)
tab[1] = 10
if (tab[1] < 0)
tab[1] = 0
_read_val = VSCAN_PAR[mot2]["sign"] * tab[1] * 1e6 / motor_par(mne2, "step_size") + \
VSCAN_PAR[mot2]["offset"]
if(!is_aprox(VSCAN_PAR[mot2]["oldpos"], _read_val, 0.0001)){
A[mne2] = _read_val
VSCAN_PAR[mot2]["oldpos"] = _read_val
}
}
if (VSCAN_BOX[nbox]["moving"] == 1)
VSCAN_BOX[nbox]["moving"] = 0
}
else {
if (mne1 != -1){
A[mne1] = VSCAN_PAR[mot1]["oldpos"]
}
if (mne2 != -1){
A[mne2] = VSCAN_PAR[mot2]["oldpos"]
}
}
}'
#%IU%
#%MDESC%
# check if pseudo motors are moving.
# return 0 if moving
# 1 if stopped
def vscan_motorsrun '{
local str dev nbox
dev = "$1"
nbox = VSCAN_BOXNUM[dev]
if (VSCAN_BOX[nbox]["moving"] != 0) {
str = isgserial_comm(dev, "?state")
if (index(str, "RUNNING") == 0) {
VSCAN_BOX[nbox]["moving"] = 1
return(0)
} else {
return(1)
}
}
}'
#%IU%
#%MDESC%
# Stop movement on pseudo motor
def vscan_stop '{
local dev
dev = "$1"
isgserial_comm(dev, "stop")
}'
#%MACROS%
#%IMACROS%
#%DEPENDENCIES%
#%AUTHOR%
# G. Berruyer (10 Dec 2001)
#%TOC%
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