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Commit 8490ec6b authored by Jan-Gerrit Richter's avatar Jan-Gerrit Richter
Browse files

changes to hrtf motor (reference)

parent 21cf1306
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Showing with 72 additions and 61 deletions
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorControlNanotec.m
View file @ 8490ec6b
......@@ -198,6 +198,10 @@ classdef itaMotorControlNanotec < itaMotorControl
end
this.wait4everything;
for index = 1:length(this.motorList)
this.motorList{index}.setReferenced(true);
end
end
function prepareForContinuousMeasurement(this,varargin)
......
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec.m
View file @ 8490ec6b
......@@ -22,6 +22,7 @@ classdef itaMotorNanotec < itaHandle
stop(this);
active = isActive(this);
setActive(this,value);
% isInitialized(this);
getStatus(this);
getMotorID(this);
......@@ -32,5 +33,11 @@ classdef itaMotorNanotec < itaHandle
disableReference(this,value);
% this = freeFromStopButton(this);
ret = prepareMove(this,position,varargin);
end
end
methods
function setReferenced(this,value)
this.mIsReferenced = value;
end
end
end
\ No newline at end of file
applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m
View file @ 8490ec6b
classdef itaMotorNanotec_HRTFarc < 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
properties
end
properties(Constant, Hidden = true)
sArgs_default_motor = struct( ...
'wait', true, ...
'speed', 2, ...
......@@ -33,31 +33,32 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
'D', 700, ...
'P_nenner', 3, ...
'I_nenner', 5,...
'D_nenner', 3);
'D_nenner', 3);
end
methods
function this = itaMotorNanotec_HRTFarc(varargin)
options = struct('motorControl', []);
options = ita_parse_arguments(options, varargin);
this.mMotorControl = options.motorControl;
this.mSerialObj = itaSerialDeviceInterface.getInstance();
this.mIsReferenced = 0;
this.motorID = 8;
this.motorName = 'HRTFArc';
this.motorLimits = [-45 330]; % the motor can do a whole rotation + ~15 deg to both sides
end
function this = init(this)
this.setReferenced(false);
end
function disableReference(this,value)
if value
this.mMotorControl.sendControlSequenceAndPrintResults(':port_in_a=0');
else
this.mMotorControl.sendControlSequenceAndPrintResults(':port_in_a=7');
this.mMotorControl.sendControlSequenceAndPrintResults(':port_in_a=7');
end
end
function stop(this)
......@@ -68,14 +69,14 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
end
while this.mSerialObj.BytesAvailable
ret = this.mSerialObj.recvAsynch;
end
end
end
% function freeFromStopButton(this)
% res = motorControl.sendControlSequenceAndPrintResults('Zd');
% resp = res{end};
% direction = str2double(resp(end));
%
%
% if direction == 0
% direction = -1;
% else
......@@ -86,28 +87,28 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% this.startMoveToPosition();
% this.allowMoveOverRefButton(0);
% 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;
name = this.motorName;
end
function sendConfiguration(this)
% Set Input 1 as external Referenceswitch
......@@ -124,19 +125,19 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
motorControl.add_to_commandlist(sprintf('#%dO=1\r' , this.motorID));
% umkehrspiel
motorControl.add_to_commandlist(sprintf('#%dz=5\r' , this.motorID));
% automatisches senden des status deaktivieren
motorControl.add_to_commandlist(sprintf('#%dJ=0\r' , this.motorID));
% endschalterverhalten: the ref manual is not very clear. bit 0
% is the most important bit. all not listed bits are 0
% is the most important bit. all not listed bits are 0
% defValue bin2dec('0100010000100010') = 17442
this.allowMoveOverRefButton(0);
% set lower speed to 1 Hz/sec (lowest value)
motorControl.add_to_commandlist(sprintf('#%du3\r' , this.motorID));
end
function this = moveToReferencePosition(this)
% Prepare reference move (turntable)
motorControl = this.mMotorControl;
......@@ -164,20 +165,20 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
motorControl.add_to_commandlist(sprintf('#%do=%d\r' , this.motorID, stepspersecond));
% set decel to a high value so the switch is not overrun
motorControl.add_to_commandlist(sprintf('#%d:decel1%.0f\r' , this.motorID,100));
% Start reference move:
motorControl.add_to_commandlist(sprintf('#%dA\r' , this.motorID));
this.old_position = itaCoordinates(1);
end
function this = startMoveToPosition(this)
this.mMotorControl.add_to_commandlist(sprintf('#%dA\r' , this.motorID));
end
function started = prepareMove(this,position,varargin)
sArgs = this.sArgs_default_motor;
sArgs.continuous = false;
......@@ -185,7 +186,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
sArgs = ita_parse_arguments(sArgs,varargin);
end
if sArgs.continuous
ret = this.prepare_move(position, sArgs);
ret = this.prepare_move(position, sArgs);
started = true;
else
% if only the phi angle is given
......@@ -200,7 +201,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
if this.old_position.phi ~= position.phi
angle = mod(position.phi(1)/2/pi*360+360, 721)-360;
ret = this.prepare_move(angle, sArgs);
ret = this.prepare_move(angle, sArgs);
this.old_position = position;
started = true;
else
......@@ -210,7 +211,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% in relative positioning mode, the angle is calculated
% and added to the old position
angle = position.phi_deg(1);
ret = this.prepare_move(angle, sArgs);
ret = this.prepare_move(angle, sArgs);
this.old_position = this.old_position + position;
started = true;
end
......@@ -218,24 +219,24 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
end
end
methods(Hidden = true)
function this = allowMoveOverRefButton(this,value)
motorControl = this.mMotorControl;
if value
motorControl.sendControlSequenceAndPrintResults('l17442');
motorControl.sendControlSequenceAndPrintResults('l17442');
else
motorControl.sendControlSequenceAndPrintResults('l5154');
motorControl.sendControlSequenceAndPrintResults('l5154');
end
% Frei rckwrts
% Frei r�ckw�rts
% 5154
% Stop
% 9250
end
function ret = prepare_move(this, angle, varargin)
% This function prepares the moves of the turntable, counterclockwise for a negative
% angle and clockwise for a positive angle.
......@@ -255,7 +256,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% command and set by '=<value>'.
%
% -----------------------------------------------------------------------------------------------
% -------------------------------------------------------------
% Meaning:
%
......@@ -272,13 +273,13 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Current = Maximum current in percent
% Ramp_mode = 0=trapez, 1=sinus-ramp, 2=jerkfree-ramp
% -------------------------------------------------------------
motorControl = this.mMotorControl;
this.sArgs_motor = ita_parse_arguments(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));
......@@ -287,7 +288,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% 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
......@@ -320,12 +321,12 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Check if old position would be in the allowed range:
if ((act_pos) > this.motorLimits(2)) || ((act_pos) < this.motorLimits(1))
% No, it's not....
ita_verbose_info('Warning: Could not determine a sensible position. Doing reference anyway.',0)
ita_verbose_info('Warning: Could not determine a sensible position. Doing reference anyway.',0)
else
% Check if new position would be in the allowed range:
if ((act_pos+angle) > this.motorLimits(2)) || ((act_pos+angle) < this.motorLimits(1))
% No, it's not....
error('Limit is on! Only positions between %d and %d degree are allowed!',this.motorLimits)
error('Limit is on! Only positions between %d and %d degree are allowed!',this.motorLimits)
end
end
end
......@@ -405,11 +406,11 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Use motor as classic step motor without closed loop:
motorControl.add_to_commandlist(sprintf('#%d:CL_enable=0\r' , this.motorID));
end
% JRI: unknown command?
% 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
......@@ -425,9 +426,9 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
else
% Turn left: (positive)
motorControl.add_to_commandlist(sprintf('#%dd=1\r' , this.motorID));
end
end
steps = (angle/0.9*this.sArgs_motor.gear_ratio);
motorControl.add_to_commandlist(sprintf('#%ds=%d\r' , this.motorID, round(abs(steps))));
motorControl.add_to_commandlist(sprintf('#%ds=%d\r' , this.motorID, round(abs(steps))));
else
% Calculate the number of steps:
% Divide by 0.9 because each (half)-step is equal to 0.9 degree
......@@ -460,12 +461,11 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
% Brake ramp:
motorControl.add_to_commandlist(sprintf('#%d:decel1%.0f\r' , this.motorID,this.sArgs_motor.decceleration_ramp));
% Zero menas equal to acceleration ramp!
ret = true;
end
end
end
end
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