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Fix trajectories velocity calculation from Velocity mode #124

Merged
merged 11 commits into from
Nov 13, 2024
Merged

Fix trajectories velocity calculation from Velocity mode #124

merged 11 commits into from
Nov 13, 2024

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LeandroMartinsdS
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This PR fixes the trajectories calculation from velocity mode.

  • It considers the buffer rollover for the velocity mode needs information (position or time) from the previous or next buffer.
  • Applies fixes in indexing for ppmac startAxisPointsCmd.
  • Fixes typo M-variable definition in powerpmac motion program.
  • Change the definition of the velocities to Q-variables in motion program.
  • Fixes BufferAdr_B in ppmac motion

JamesOHeaDLS
JamesOHeaDLS reviewed Apr 29, 2024
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Meant to place in-line comment

@LeandroMartinsdS LeandroMartinsdS self-assigned this Apr 29, 2024
JamesOHeaDLS
JamesOHeaDLS reviewed Jul 31, 2024
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pmacApp/pmc/trajectory_scan_code_ppmac.pmc Show resolved Hide resolved
pmacApp/src/pmacController.cpp Show resolved Hide resolved
pmacApp/src/pmacTrajectory.cpp Outdated Show resolved Hide resolved
pmacApp/src/pmacTrajectory.cpp Outdated Show resolved Hide resolved
pmacApp/src/pmacController.cpp Outdated Show resolved Hide resolved
pmacApp/src/pmacController.cpp Outdated Show resolved Hide resolved
pmacApp/src/pmacController.cpp Outdated Show resolved Hide resolved
pmacApp/src/pmacController.cpp Outdated Show resolved Hide resolved
pmacApp/pmc/trajectory_scan_definitions_ppmac.pmh Outdated Show resolved Hide resolved
pmacApp/pmc/trajectory_scan_code.pmc Outdated Show resolved Hide resolved
@LeandroMartinsdS LeandroMartinsdS force-pushed the fixTrajectories branch 2 times, most recently from e3d012f to 09e18f9 Compare September 12, 2024 15:43
JamesOHeaDLS
JamesOHeaDLS reviewed Sep 13, 2024
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isAxisValid and isIndexValid need to be write into unique variables, or via another mean so one doesn't mask the error of the other

pmacApp/src/pmacTrajectory.cpp Outdated Show resolved Hide resolved
pmacApp/src/pmacTrajectory.cpp Outdated Show resolved Hide resolved
@LeandroMartinsdS LeandroMartinsdS force-pushed the fixTrajectories branch 3 times, most recently from 64f2d55 to 7a7c925 Compare November 1, 2024 16:59
@LeandroMartinsdS
Fix trajectory_scan_code_ppmac.pmc
68ed7ee 
Remove call for removed subroutine (N112)
Remove assignment of removed variable (VelMode)

Rename clashing variables for ppmac trajectory

Global variable Time clashes with Sys.Time element
User defined variable Status breaks the Status screen IDE
@LeandroMartinsdS
Fix axes indexing for geobrick trajectory
14f0802 
Make the necessary changes to tpmac startAxisPointCmd to keep the same
functioning
@LeandroMartinsdS
Tidy trajectory definitions
4f1b7bf 
Move velocities to Q variables
Fix Z_Axis definition for trajectory scan
@LeandroMartinsdS
Handle buffer rollover
f348c0d 
Handle buffer rollover in trajectory velocity calculation from VelMode

Rollback getVelocityMode
@LeandroMartinsdS
Fix ppmac trajectory buffer length & definitions
624e2e9
@LeandroMartinsdS
Reset tScanPendingPoint_ at the beginning of a scan
c7a7c16
@LeandroMartinsdS
Fix velocities addresses in pmc for turbopmac
6e0c380 
A_Vel_Adr was being calculated from the previous Z_Adr, which represents the Z position at the previous iteration.
As the addresses are cascaded, all the velocities were shifted.

Tidy up trajectory_scan_code for turbo PMAC

Move the buffers addresses update to the end of subroutine
making it more readable
@LeandroMartinsdS
Fix functionName variables in pmacTrajectory methods
2a4157e
@LeandroMartinsdS
Refactor buffer rollover handling
07fb409 
Add comments for tScanPrevBufferPositions

Add tScanGetPreviousPoint function

Refactored to make obtaining the previous point for tScan velocity calculation more modular
@LeandroMartinsdS
Add enum for velocity mode
6112a4d
@LeandroMartinsdS
Refactor index and axis checking in pmacTrajectory
2b5f1f8
@LeandroMartinsdS LeandroMartinsdS merged commit ce4b4b4 into dls-master Nov 13, 2024
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@JamesOHeaDLS JamesOHeaDLS JamesOHeaDLS left review comments

@adhowell adhowell Awaiting requested review from adhowell

@coretl coretl Awaiting requested review from coretl

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