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| HEXAPODE.MAC | ||||||
| [ source code | installed at | configured at ] | ||||||
| See other macros in category: All | ||||||
Description:
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Documentation:
This macro set allows you to define pseudo motors on hexapode.
Since version 4.0 (Feb 2006) this macro file allows also to
define new style macro motors on an hexapod device.
To define new style macro motors you must define:
an hexapod controller in config:
MOTORS DEVICE ADDR <>MODE NUM <>TYPE
YES hexa id28/hexapode/01 6 Macro Motors
motors in config referring to that controller. Channel assignment
will decide on the motor role as follow:
Channel
0 - X
1 - Y
2 - Z
3 - RotZ
4 - RotY
5 - RotX
Caution : take care not to swap RotZ and RotX...
for the time being motors defined on arbitrary translations/rotations
can only be defined as old-style pseudo motors.
$Log: hexapode.mac,v $ Revision 4.10 2015/12/18 15:21:04 perez Improve <ctrl-c> handling Revision 4.9 2015/09/24 13:17:42 perez Workaround for unexpected "start_all" calls Revision 4.8 2015/02/26 10:28:47 perez Add macros to change dynamicaly the Ref Position Revision 4.7 2014/11/04 13:53:44 perez Fix bug of several hexapods in same session + fix bug of version 4.4 on fresh restart Revision 4.6 2014/09/23 11:24:42 perez Add <ctrl-c> handle for macro motors Revision 4.5 2014/09/22 12:24:23 guilloud + global variable to disable hexapods in a loop using hexa_enable hexa_disable can be useful to avoid to slow down scans. Revision 4.4 2012/12/17 09:35:38 lagier in hexa_cmd, "get_status", test HEXAGO_POS global has been initialised prior to eventually launch the message "too large discrepancy on axis" that prevents this message to systematically show up after spec restarts from fresh, and as long as no motion has been requested on the hexapode. Revision 4.3 2010/08/31 12:05:02 perez Fix cumulative error Revision 4.1 2006/09/15 14:00:23 lagier bug fix in auto doc syntax Revision 4.0 2006/08/01 11:04:11 lagier New style macro motors support. Revision 3.9 2005/03/23 10:44:50 rey Newmode in hexasim declared now as local variable. Created conflict with beamline macros. Revision 3.8 2003/03/27 10:34:37 rey Bug in hexamenu corrected. The bug made impossible to select from several hexapodes in hexamenu. Revision 3.7 2002/10/30 07:20:17 sole variable hxn renamed to hxn0 in hexamenu to avoid problem when calling hexashow from hexamenu Revision 3.7 2002/10/30 08:20:00 sole Problem with hxn variable when calling hexashow from hexamenu Revision 3.6 2002/04/10 17:06:26 papillon Explicit definition of local variables Update hexapode position in HEXA_DEV after mv, hexamove or hexaleg command (Done in hexa_movecleanup, hexa_legcleanup) Add a hook for user position checking called user_hexa_check Add logfile and debug flag that were in ID27 version EXAMPLE | ||||||
Macros:
Usage: hexamot Adds a hexapode motor to the SPEC application. Type the macro with no parameter to see the full syntax hexaadd Usage: hexaadd device-name Defines a hexapode to the system. Without motors. When using hexamot to define a hexapode motor. The hexapode device is automatically defined. hexaon Usage: hexaon Activates all hexapode motors This macro use cdef and then cannot be called in a loop... use in this case hexa_disable to disable your motors. hexaoff Usage: hexaoff De-activates all hexapode motors hexamove Usage: hexamove Moves hexapode to absolute position hexaleg Usage: hexaleg Moves actuators by length hexacalc Usage: hexacalc Enters a loop to prompt for positions to check No motion is done with this macro hexapode Usage: hexapode [ hexapode-number ] Alias to hexashow: Macro to visualize state/position/lengths of hexapode hexashow Usage: hexashow [ hexapode-number ] Macro to visualize state/position/lengths of hexapode hexapos Usage: hexapos [ hexapode-number ] Shows position of one hexapode hexadesc Usage: hexadesc [ hexapode-number ] Shows general description/state for one hexapode hexalength Usage: hexalength [ hexapode-number ] Shows leg lengths of one hexapode hexanormal Usage: hexanormal [ hexapode-number ] Set operation mode to NORMAL hexasim Usage: hexasim [ hexapode-number ] Set operation mode to SIMULATION hexareset Usage: hexareset [ hexapode-number ] Does a soft reset on one hexapode hexahard Usage: hexahard [hexapode-number] Does a full reset on one hexapode hexastop Usage: hexastop hexamenu Usage: hexamenu Tool for hexapode calibration hexasetref Usage: hexasetref [hexapod] Change the Reference Position using the current hexapod position. The hexapod will then rotate arround the Reference System at the current position (LRS==IRS). Only axes X/Y/Z are concerned. hexashowref Usage: hexashowref [hexapod] Print Reference Position offset compared to default one (defined in the Device Server resources) | ||||||
| Internal Macros: | ||||||
Usage: hexa_config (mne, type, unit, module, channel) Macro motor implementation hexa_cmd Usage: hexa_cmd (mne, cmd, p1, p2) Macro motor implementation hexainit Usage: hexainit hexamotadd Usage: hexamotadd %MDESC hexaunsetup Usage: hexaunsetup hexa_enable Usage: hexa_enable hexa_disable Usage: hexa_disable hexa_is_disabled Usage: hexa_is_disabled() hexa_is_enabled Usage: hexa_is_enabled() hexalog Usage: hexalog hexadebug Usage: hexadebug hexabody Usage: hexabody(mode) To use on/off from blmenu macro. You need to use blmenuadd to use it. blmenuadd("Hexapode","Hexapode show","hexabody","_hxb_") hexa_movecleanup Usage: hexa_movecleanup(hxdev) hexa_legcleanup Usage: hexa_legcleanup(hxdev) _hexadesc Usage: _hexadesc(hxn) _hexalength Usage: _hexalength(hxn) _hexapos Usage: _hexapos(hxn) hexa_onsim Usage: hexa_onsim hexa_offsim Usage: hexa_offsim hexaselect Usage: hexaselect() Utility macro for other macros hexa_prompt Usage: hexa_prompt hexa_getmain Usage: hexa_getmain hexa_premove Usage: hexa_premove hexa_moveall Usage: hexa_moveall user_hexa_check Usage: user_hexa_check (hxdev, hxpos) Hook macro called before hexapode motion in a hexamove or mv command Parameters $1 = device name $2 = position array (x, y, z, rotz, roty, rotx) Should return 0 if motion must be canceled, 1 otherwise hexa_check Usage: hexa_check(hxn,action,argin) hexa_poll Usage: hexa_poll hexa_getpos Usage: hexa_getpos(num) hexa_moveone Usage: hexa_moveone(num) hexa_cleanup Usage: hexa_cleanup hexasearch Usage: hexasearch(hxdev) This macro does a search new home command. It reports at the end the position at which the home lengths have been found. These should be noted at written into the hexapode resource file. hexa_newhomelen Usage: hexa_newhomelen(hxdev) hexa_showcmds Usage: hexa_showcmds() hexasetref Usage: hexasetref(hxdev) hexaloadpos Usage: hexaloadpos(hxdev) hexarandom Usage: hexarandom isnum Usage: isnum(variab) _hexa_select Usage: _hexa_select | ||||||
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