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Refactor to avoid WT #82

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Refactor to avoid WT
FreddieAkeroyd Dec 21, 2024
46a6cbf
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FreddieAkeroyd Dec 21, 2024
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49 changes: 31 additions & 18 deletions GalilSup/Db/galil_Home_ForwLimit.dmc
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Original file line number Diff line number Diff line change
@@ -1,53 +1,66 @@
NO*****************AXIS ${AXIS}********************

NO*******HOME - Forward Limit************
#HOME${AXIS}
IF ((home${AXIS}=1))
inhome${AXIS}=1
inhome${AXIS}=1
IF ((home${AXIS}=1) & (hjog${AXIS}=0))
slimfl${AXIS}=_FL${AXIS};FL${AXIS}=2147483647
slimfl${AXIS}=_FL${AXIS};FL${AXIS}=2147483647
slimbl${AXIS}=_BL${AXIS};BL${AXIS}=-2147483648
hjog${AXIS}=1
ENDIF
IF ((_LR${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
home${AXIS}=0;MG "home${AXIS}", home${AXIS};ENDIF
home${AXIS}=0;MG "home${AXIS}", home${AXIS}
ENDIF
IF ((hjog${AXIS}=1) & (_BG${AXIS}=1) & (home${AXIS}=1))
ST${AXIS};ENDIF
ST${AXIS}
ENDIF
IF ((hjog${AXIS}=1) & (_BG${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
oldecel${AXIS}=_DC${AXIS};speed${AXIS}=_SP${AXIS};
DC${AXIS}=@ABS[hjgdc${AXIS}]
JG${AXIS}=@ABS[hjgsp${AXIS}]*-1
SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=2
IF (_MO${AXIS}=1);SH${AXIS};ENDIF
hjog${AXIS}=2
ENDIF
IF ((hjog${AXIS}=2) & (_MO${AXIS}=0) & (home${AXIS}=1))
BG${AXIS};hjog${AXIS}=3
ENDIF
IF ((hjog${AXIS}=1) & (_BG${AXIS}=0) & (_LF${AXIS}=1) & (home${AXIS}=1))
hjog${AXIS}=3
hjog${AXIS}=4
ENDIF
IF ((hjog${AXIS}=2) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
ST${AXIS}
hjog${AXIS}=3
IF ((hjog${AXIS}=3) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
ST${AXIS};hjog${AXIS}=4
ENDIF
IF ((hjog${AXIS}=3) & (_BG${AXIS}=0) & (_LF${AXIS}=1) & (home${AXIS}=1))
IF ((hjog${AXIS}=4) & (_BG${AXIS}=0) & (_LF${AXIS}=1) & (home${AXIS}=1))
DC${AXIS}=@ABS[hjgdc${AXIS}]
JG${AXIS}=@ABS[hjgsp${AXIS}]
SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=4
IF (_MO${AXIS}=1);SH${AXIS};ENDIF
hjog${AXIS}=5
ENDIF
IF ((hjog${AXIS}=5) & (_MO${AXIS}=0) & (home${AXIS}=1))
BG${AXIS};hjog${AXIS}=6
ENDIF
IF ((hjog${AXIS}=4) & (_BG${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
IF ((hjog${AXIS}=6) & (_BG${AXIS}=0) & (_LF${AXIS}=0) & (home${AXIS}=1))
DC${AXIS}=@ABS[hjgdc${AXIS}]
JG${AXIS}=@ABS[hjgsp${AXIS}]/-10
SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=5
IF (_MO${AXIS}=1);SH${AXIS};ENDIF
hjog${AXIS}=7
ENDIF
IF ((hjog${AXIS}=5) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
ST${AXIS}
hjog${AXIS}=6
IF ((hjog${AXIS}=7) & (_MO${AXIS}=0) & (home${AXIS}=1))
BG${AXIS};hjog${AXIS}=8
ENDIF
IF ((hjog${AXIS}=8) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
ST${AXIS};hjog${AXIS}=9
ENDIF
IF ((hjog${AXIS}=6) & (_BG${AXIS}=0) & (home${AXIS}=1))
IF ((hjog${AXIS}=9) & (_BG${AXIS}=0) & (home${AXIS}=1))
hjog${AXIS}=0;home${AXIS}=0;homed${AXIS}=1
MG "home${AXIS}", home${AXIS};MG "homed${AXIS}", homed${AXIS}
ENDIF
ELSE
hjog${AXIS}=0
ENDIF
IF ((home${AXIS}=0) & (inhome${AXIS}=1))
FL${AXIS}=slimfl${AXIS}
FL${AXIS}=slimfl${AXIS}
BL${AXIS}=slimbl${AXIS}
inhome${AXIS}=0
ENDIF
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4 changes: 3 additions & 1 deletion GalilSup/src/GalilAxis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1999,6 +1999,8 @@ void GalilAxis::checkEncoder(void)
double sc_code = getGalilAxisVal("_SC");
// get axis moving state
double bg_code = getGalilAxisVal("_BG");
// in case we are homing record hjog
int hjog_code = getGalilAxisVal("hjog");
//Pass stall status to higher layers
setIntegerParam(pC_->motorStatusSlip_, 1);
//Set the stop reason so limit deceleration is applied during stop
Expand All @@ -2011,7 +2013,7 @@ void GalilAxis::checkEncoder(void)
sprintf(message, "Encoder stall stop motor %c", axisName_);
//Set controller error mesg monitor
pC_->setCtrlError(message);
std::cerr << "STALL: pestall_time=" << pestall_time << " (>" << estall_time << ") encoderMove_=" << encoderMove_ << " encDirOk_=" << encDirOk_ << " _SC" << axisName_ << "=" << sc_code << " [" << lookupStopCode((int)sc_code) << "] _BG" << axisName_ << "=" << bg_code << std::endl;
std::cerr << "STALL: pestall_time=" << pestall_time << " (>" << estall_time << ") encoderMove_=" << encoderMove_ << " encDirOk_=" << encDirOk_ << " _SC" << axisName_ << "=" << sc_code << " [" << lookupStopCode((int)sc_code) << "] _BG" << axisName_ << "=" << bg_code << " hjog" << axisName_ << "=" << hjog_code << std::endl;
}
}
}
Expand Down