itaMotorNanotec_Turntable.m 21.4 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
classdef itaMotorNanotec_Turntable < itaMotorNanotec
    %ITAMOTORCONTROL Summary of this class goes here
    %   Detailed explanation goes here
    
    properties(Access = protected, Hidden = true)
        mSerialObj; % the serial connection
        
        mMotorControl; % parent controlling this class
        sArgs_motor;
    end
    
    properties 

    end
    
    properties(Constant, Hidden = true)
        sArgs_default_motor = struct( ...
            'wait',         true,       ...
19
            'speed',        2,          ...
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
            'VST',          'adaptiv',  ...
            'limit',        false,      ...
            'continuous',   false,      ...
            'absolut',      false,      ...
            'closed_loop',  false,       ...
            'acceleration_ramp', 500,  ...
            'gear_ratio',   180,        ...
            'current',      100,        ...
            'ramp_mode',    2           );    
    end
    
    methods
        function this = itaMotorNanotec_Turntable(varargin)
            options =   struct('motorControl', []);
            options    =   ita_parse_arguments(options, varargin);
            this.mMotorControl = options.motorControl;
            this.mSerialObj = itaSerialDeviceInterface.getInstance();
            
            this.motorID = 3;
            this.motorName = 'Turntable';
        end
        
        function this = init(this)
            
        end
        
        function stop(this)
            % DO NOT ASK - JUST STOP ALL MOTORS!
            for i = 1:5 % repeat several times to ensure that every motor stops!
                this.mSerialObj.sendAsynch(sprintf('#%dS\r'        , this.motorID));
%                 pause(this.waitForSerialPort);
            end
            while this.mSerialObj.BytesAvailable
                ret = this.mSerialObj.recvAsynch;
            end    
        end
        
        
        function getStatus(this)
            motorControl.add_to_commandlist(sprintf('#%d$\r'    , this.motorID));
        end
        
        function status = isActive(this)
            if this.mIsInit == false
                this.mSerialObj.sendAsynch(sprintf('#%d$\r'    , this.motorID));
            end
            status = this.mIsInit;
        end
        
        function setActive(this,value)
           this.mIsInit = value;
        end
        
        function id = getMotorID(this)
            id = this.motorID;
        end
        function name = getMotorName(this)
           name = this.motorName; 
        end
        function sendConfiguration(this)
            % Set Input 1 as external Referenceswitch
            motorControl = this.mMotorControl;
            motorControl.add_to_commandlist(sprintf('#%d:port_in_a=7\r'  , this.motorID));
            motorControl.add_to_commandlist(sprintf('#%d:port_out_a=1\r' , this.motorID));
            motorControl.add_to_commandlist(sprintf('#%d:port_out_a=2\r' , this.motorID));
            % phasenstrom im stillstand
            motorControl.add_to_commandlist(sprintf('#%dr=0\r' , this.motorID));
            % fehlerkorrekturmodus
            motorControl.add_to_commandlist(sprintf('#%dU=0\r' , this.motorID));
            % ausschwingzeit
            motorControl.add_to_commandlist(sprintf('#%dO=1\r' , this.motorID));
            % umkehrspiel
            motorControl.add_to_commandlist(sprintf('#%dz=0\r'          , this.motorID));
            % automatisches senden des status
            motorControl.add_to_commandlist(sprintf('#%dJ=1\r'          , this.motorID));
%             if ~this.send_commandlist(this.failed_command_repititions)
%                 this.mIsInitialized             =   false;
%                 error('Motor_turntable is not responding!')
%             end
        end
        
        function this = moveToReferencePosition(this)
            % Prepare reference move (turntable)
            if ~this.mIsInit
                ita_verbose_info('Not initialized - This should not happen',0);
            end
            
            motorControl = this.mMotorControl;
            % Turn + some degrees in case we are already at the end of the
            % reference switch or already passed it:
110
            this.move_turntable(+2);
111
112
113
114
115
116
117
118
119
            if this.mMotorControl.send_commandlist(5)
                ita_verbose_info('Turntable started move...',2);
            end
            motorControl.wait4everything;
            % Call Reference-Mode:
            motorControl.add_to_commandlist(sprintf('#%dp=4\r'          , this.motorID));
            % Set direction:
            motorControl.add_to_commandlist(sprintf('#%dd=0\r'          , this.motorID));
            % Calculate and set lower speed:
120
121
            stepspersecond      =   (this.sArgs_default_motor.speed/0.9*this.sArgs_default_motor.gear_ratio);
            motorControl.add_to_commandlist(sprintf('#%du=%.2f\r'       , this.motorID, stepspersecond));
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
            % Calculate and set upper speed:
            stepspersecond      =   (this.sArgs_default_motor.speed/0.9*this.sArgs_default_motor.gear_ratio);
            motorControl.add_to_commandlist(sprintf('#%do=%.2f\r'       , this.motorID, stepspersecond));
            % Start reference move:
            motorControl.add_to_commandlist(sprintf('#%dA\r'            , this.motorID));


            this.old_position = itaCoordinates(1);
            
            this.mIsReferenced = true;
            ita_verbose_info('Turntable referenced...',2);
        end
        
        function this = startMoveToPosition(this)
             this.mMotorControl.add_to_commandlist(sprintf('#%dA\r'        , this.motorID));
        end
        
139
140
141
        function disableReference(this,value)

        end
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
        
        function started = prepareMove(this,position,varargin)
           
           if ~this.mIsInit
               ita_verbose_info('Turntable: No initialized! This should not happen!',0)
               started = false;
               return;
           end
           
           if ~this.mIsReferenced
              ita_verbose_info('Turntable: No reference move done! Not moving!',0)
              started = false;
              return;
           end
            
           sArgs.continuous = false;
158
           sArgs.direct = true;
159
160
           sArgs.speed = this.sArgs_default_motor.speed;
           if ~isempty(varargin)
161
               [sArgs,~] = ita_parse_arguments(sArgs,varargin);
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
           end
           if sArgs.continuous
                ret = this.prepare_move(position, 'speed', sArgs.speed,'continuous', true); 
                started = ret;
           else
               % if only the phi angle is given
               if ~isa(position,'itaCoordinates')
                  tmpPosition = this.old_position;
                  if ~isnan(position)
                      tmpPosition.phi_deg = position;
                  end
                  position = tmpPosition;
               end

               if this.old_position.phi ~= position.phi
177
178
179
180
181
                    if ~sArgs.direct
                        angle = mod(position.phi(1)/2/pi*360+360, 720)-360;
                    else
                       angle = position.phi_deg(1); 
                    end
182
                    ret = this.prepare_move(angle, 'absolut', true, 'wait', true, 'speed', sArgs.speed); 
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
                    this.old_position = position;
                    started = ret;
               else
                    started = false;
               end
           end
        end

    end
    
    methods(Hidden = true)
        function move_turntable(this,angle,varargin)
            % angle:        turn counter-clockwise by angle degree (relative-mode)
            %                   or to specific position (absolut-mode)!
            % varargin:     is redirected to prepare_move_arm!
            
            % Move turntable
%             motorControl.clear_receivedlist;
%             if ~this.isInitialized
%                 ita_verbose_info('Not initialized - I will do that for you...!',0);
%                 this.initialize
%             end
            if this.mIsInit
                % First prepare the move
                if this.prepare_move(angle, varargin{:})
                    % Now start the move
                    this.startMoveToPosition;
                end


            else
                ita_verbose_info('Turntable not connected!',0)
            end
        end
        
        function ret = prepare_move(this, angle, varargin)
           if isnan(angle)
                ret = false;
                return;
           end
            
            
            %   This function prepares the moves of the turntable, counterclockwise for a negative
            %   angle and clockwise for a positive angle.
            %
            %   The rules for the commands sent via RS232 are the following:
            %
            %   Each command starts with it's startsign '#' followed by the
            %   motor number and ends with an '\r'. All other elements are ascii signs.
            %   A '*' sends the command to all motors.
            %
            %   The motor controller will respons with an echo of the
            %   command, but without the '#'. Invalid commands are marked
            %   with an '?' at the end of the echo.
            %
            %   Long commands start with an '#' followed by the motor ID
            %   and then an ':'. The command is read by just sending the
            %   command and set by '=<value>'.
            %
            % -----------------------------------------------------------------------------------------------
            % Init
%             if ~this.isInitialized
%                 ita_verbose_info('Not initialized - I will do that for you...!',0);
%                 this.initialize
%             end
            % Use always default values and change them if user is asking for it:
            this.sArgs_motor = this.sArgs_default_motor;
            
            % -------------------------------------------------------------
            % Meaning:
            %
            % Wait              =   Stop matlab until motor reaches final position!
            % Speed             =   Grad/s of the turntable
            % VST               =   Microstep divider. Values: 1, 2, 4, 5, 8, 10, 16, 32,
            %                       64. 254="Vorschubkonstantenmodus", 255=Adaptiv steps
            % Limit             =   Position only allowed between -180 and 360 degree if true!
            % Continuous        =   Turn continuously with a given speed
            % Absolut           =   Go to absolut positions
            % Closed_loop       =   Turn on the closed loop regulation
            % Acceleration_ramp =   Value in Hz/ms
            % Gear_ratio        =   Gear ratio between motor and turntable (be careful!)
            % Current           =   Maximum current in percent
            % Ramp_mode         =   0=trapez, 1=sinus-ramp, 2=jerkfree-ramp
            % -------------------------------------------------------------
            
            motorControl = this.mMotorControl;
            
            this.sArgs_motor = ita_parse_arguments(this.sArgs_motor,varargin);
            % Assign wait to global wait:
%
            
            if (this.sArgs_motor.speed == 0) && ((angle == 0) && (~this.sArgs_motor.continuous) && (~this.sArgs_motor.absolut))
                % This means: STOP!
                motorControl.add_to_commandlist(sprintf('#%dS\r'        , this.motorID));
%                 ret             =   false;
%                 pause(0.1);
%                 fgetl(this.mSerialObj);
                return
            end
            if (this.sArgs_motor.limit == true)
                % Check if the position is too far away...
                if this.sArgs_motor.continuous == true
                    % It will lead to problems if limit is on AND continuous
                    % is true...
                    error('Please turn off limit if you want to turn continuous! Please make also sure that no cable or other stuff can coil!');
                elseif this.sArgs_motor.absolut == true
                    % This case is easy because the given absolut angle
                    % shoud be between -180 and 360
                    if (angle > 361) || (angle < -181)
                        % It's not in the allowed range... :-(
                        error('Limit is on! Only positions between -180 and 360 degree are allowed!')
                    end
                else
                    % Limit is on and relative positioning is on... this case
                    % is a bit more complex!
                    % Get position:
                    this.mSerialObj.sendAsynch(sprintf('#%dC\r'      , this.motorID));
                    act_pos       =   this.mSerialObj.recvAsynch();
                    act_pos       =   str2double(act_pos(3:end));
                    % Now multiply with 0.9 and divide by gear_ratio to get
                    % the position angle of the turntable:
                    act_pos       =   act_pos*0.9/this.sArgs_motor.gear_ratio;
                    % Check if new position would be in the allowed range:
                    if (act_pos+angle) > 361 || (act_pos+angle) < -181
                        % No, it's not....
                        error('Limit is on! Only positions between -180 and 360 degree are allowed!')
                    end
                end
            end
            % Set microstep-divider:
            if strcmpi(this.sArgs_motor.VST, 'adaptiv')
                motorControl.add_to_commandlist(sprintf('#%dg=255\r'     , this.motorID));
            else
                motorControl.add_to_commandlist(sprintf(['#%dg=' this.sArgs_motor.VST '\r']  , this.motorID));
            end
            % Set maximum current to 100%:
            motorControl.add_to_commandlist(sprintf('#%di=%.0f\r'       , this.motorID, this.sArgs_motor.current));
            % Choose ramp mode: (0=trapez, 1=sinus-ramp, 2=jerkfree-ramp):
            motorControl.add_to_commandlist(sprintf('#%d:ramp_mode=%d\r', this.motorID, this.sArgs_motor.ramp_mode));
            % Set maximum acceleration jerk:
            motorControl.add_to_commandlist(sprintf('#%d:b=100\r'       , this.motorID));
            % Use acceleration jerk as braking jerk:
            motorControl.add_to_commandlist(sprintf('#%d:B=0\r'         , this.motorID));
            % Closed_loop?
            %this.sArgs_motor.closed_loop = true; % DEBUG!
            if this.sArgs_motor.closed_loop == true
                % JEAR! Without this the new motor would be nonsense!
                % Activate CL during movement:
                motorControl.add_to_commandlist(sprintf('#%d:CL_enable=2\r' , this.motorID));
                % Nice values for the speed closed loop control:
                pos     =   [0.5 1 2 3 4 8 12 16 25 32 40 50];
                vecP    =   [0.5 1.5 2.5 3.5 4.5 4.5 5.5 2.5 2.0 1.3 1.3 1.3];
                vecI    =   [0.05 0.1 0.2 0.3 0.4 0.8 1.2 1.6 2.0 2.5 2.5 2.5];
                vecD    =   [9 6 4 3 2 1 1 3 6 10 10 10];
                pP      =   polyfit(pos,vecP,5);
                pI      =   polyfit(pos,vecI,5);
                pD      =   polyfit(pos,vecD,5);
                P       =   polyval(pP,this.sArgs_motor.speed);
                I       =   polyval(pI,this.sArgs_motor.speed);
                D       =   polyval(pD,this.sArgs_motor.speed);
                P_nenner    =   5;
                I_nenner    =   5;
                D_nenner    =   5;
                P_zaehler   =   round(P*2^P_nenner);
                I_zaehler   =   round(I*2^I_nenner);
                D_zaehler   =   round(D*2^D_nenner);
                motorControl.add_to_commandlist(sprintf('#%d:CL_KP_v_Z=%d\r'    , this.motorID, P_zaehler));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KP_v_N=%d\r'    , this.motorID, P_nenner));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KI_v_Z=%d\r'    , this.motorID, I_zaehler));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KI_v_N=%d\r'    , this.motorID, I_nenner));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KD_v_Z=%d\r'    , this.motorID, D_zaehler));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KD_v_N=%d\r'    , this.motorID, D_nenner));
                % Nice values for the positioning closed loop control:
                P       =   200;% (400 = default)
                I       =   1.0;% (2 = default)
                D       =   300;% (700 = default)
                P_nenner    =   3;
                I_nenner    =   5;
                D_nenner    =   3;
                P_zaehler   =   round(P*2^P_nenner);
                I_zaehler   =   round(I*2^I_nenner);
                D_zaehler   =   round(D*2^D_nenner);
                motorControl.add_to_commandlist(sprintf('#%d:CL_KP_s_Z=%d\r'    , this.motorID, P_zaehler));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KP_s_N=%d\r'    , this.motorID, P_nenner));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KI_s_Z=%d\r'    , this.motorID, I_zaehler));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KI_s_N=%d\r'    , this.motorID, I_nenner));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KD_s_Z=%d\r'    , this.motorID, D_zaehler));
                motorControl.add_to_commandlist(sprintf('#%d:CL_KD_s_N=%d\r'    , this.motorID, D_nenner));
                % Kask V-Regler: P = 1.2, I = 0.85, D = 0.7
                % Kask- P-Regler: P = 400 (default), I = 2 (default), D = 700 (default)
                % TODO: Send values to the motor... or we just skip the
                % kaskaded closed loop
            else
                % Use motor as classic step motor without closed loop:
                motorControl.add_to_commandlist(sprintf('#%d:CL_enable=0\r'     , this.motorID));
            end
            % Correction of the sinus-commutierung: (Should be on!)
            motorControl.add_to_commandlist(sprintf('#%d:cal_elangle_enable=1\r', this.motorID));
            
            % Set the speed:
            % Divide by 0.9 because each (half)-step is equal to 0.9 degree
            % and multiply by the gear_ratio because the given speed value
            % is for the turntable and not for the motor:
            stepspersecond  =   (this.sArgs_motor.speed/0.9*this.sArgs_motor.gear_ratio);
            motorControl.add_to_commandlist(sprintf('#%do=%.2f\r'               , this.motorID, stepspersecond));
            % Set mode:
            if this.sArgs_motor.continuous == true
                % Continuous mode:
                motorControl.add_to_commandlist(sprintf('#%dp=5\r'              , this.motorID));
                if (angle > 0)
                    % Turn right: (negative)
                    motorControl.add_to_commandlist(sprintf('#%dd=1\r'          , this.motorID));
                else
                    % Turn left: (positive)
                    motorControl.add_to_commandlist(sprintf('#%dd=0\r'          , this.motorID));
                end % Send a command with zero speed to stop the motor!
            else
                % Calculate the number of steps:
                % Divide by 0.9 because each (half)-step is equal to 0.9 degree
                % and multiply by the gear_ratio because the given angle value
                % is for the turntable and not for the motor:
404
                steps       =   (angle/0.9*this.sArgs_motor.gear_ratio);
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
                % Check if absolut or relative position mode:
                if this.sArgs_motor.absolut == true
                    % Absolut position mode:
                    motorControl.add_to_commandlist(sprintf('#%dp=2\r'          , this.motorID));
                    % Set position (positive/negaive relative to the
                    % reference:
                    motorControl.add_to_commandlist(sprintf('#%ds=%.2f\r'       , this.motorID, steps));
                    % INFO: -100000000 <= steps <= +100000000!
                else
                    % Relative position mode:
                    motorControl.add_to_commandlist(sprintf('#%dp=1\r'          , this.motorID));
                    motorControl.add_to_commandlist(sprintf('#%ds=%.2f\r'       , this.motorID, abs(steps)));
                    % INFO:     0 < steps <= +100000000! Direction is set seperatly!
                    % Check the direction:
                    if (angle > 0) % Turn right: (negative)
                        motorControl.add_to_commandlist(sprintf('#%dd=1\r'      , this.motorID));
                    else % Turn left: (positive)
                        motorControl.add_to_commandlist(sprintf('#%dd=0\r'      , this.motorID));
                    end
                end
            end
            % Set acceleration ramp: (This formula is given by the
            % programming handbook of Nanotec! Don't ask why it is so
            % complicated!!!!)
            value       =   round((3000/(this.sArgs_motor.acceleration_ramp + 11.7))^2);
            motorControl.add_to_commandlist(sprintf('#%db=%.0f\r'           , this.motorID, value));
            % Brake ramp:
            motorControl.add_to_commandlist(sprintf('#%dB=0\r'              , this.motorID));
            % Zero menas equal to acceleration ramp!
            
            % ------------------------------------------------------------
            % All commands added to commandlist - now send it:
%             if this.send_commandlist(this.failed_command_repititions)
%                 ita_verbose_info('Turntable is prepared...',2);
%                 ret     =   true;
%             else
%                 ita_verbose_info('Something is wrong! Turntable is NOT prepared...',0);
%                 ret     =   false;
%             end

            ret = true;
        end
 
        
    end
    
end