Commit 7a576fef authored by Jan-Gerrit Richter's avatar Jan-Gerrit Richter

added parameter for arm fine placement

parent ef5dac84
......@@ -111,11 +111,12 @@ classdef itaEimar < itaMeasurementTasksScan
% </ITA-Toolbox>
properties
waitForSerialPort = 0.020; % Time to wait between two commands
timeout_response = 0.1; % Time in seconds within each motor has to response to a command!
timeout_move = 300; % Time in seconds within each device has to reach their new position!
waitForSerialPort = 0.020; % Time to wait between two commands
timeout_response = 0.1; % Time in seconds within each motor has to response to a command!
timeout_move = 300; % Time in seconds within each device has to reach their new position!
failed_command_repititions = 5; % How often do we repeat commands until we throw an error?
doSorting = true; % sort the measurement coordinates for arm due to shorter measurement time
doSorting = true; % sort the measurement coordinates for arm due to shorter measurement time
armCorrectionAngle = 0; % Correct the position of the arm. Check at 90° if horizontal. Value <0 -> higher position
end
% *********************************************************************
properties (Access = protected, Hidden = true)
......@@ -924,7 +925,7 @@ classdef itaEimar < itaMeasurementTasksScan
return;
end
angle = angle - 119.01; % Larger substractive value: Higher position. Checkt at 90°.
angle = angle - 119.01 + this.armCorrectionAngle; % Larger substractive value: Higher position. Checkt at 90�.
......@@ -938,7 +939,7 @@ classdef itaEimar < itaMeasurementTasksScan
% 64. 254="Vorschubkonstantenmodus", 255=Adaptive Stepdivider
% Closed_loop = Turn on the closed loop regulation
% Acceleration_ramp = Value in Hz/ms
% Gear_ratio = Getriebeübersetzung
% Gear_ratio = Gear Ratio
% Current = Maximum current in percent
% Ramp_mode = 0=trapez, 1=sinus-ramp, 2=jerkfree-ramp
% -------------------------------------------------------------
......@@ -1000,11 +1001,11 @@ classdef itaEimar < itaMeasurementTasksScan
this.add_to_commandlist(sprintf('#%d:CL_KD_v_Z=%d\r' , this.motorID_arm, D_zaehler));
this.add_to_commandlist(sprintf('#%d:CL_KD_v_N=%d\r' , this.motorID_arm, D_nenner));
% Pos-Kreis:
% Für 10°/s
% For 10 deg/s
%P = 100;% (400 = default)
%I = 1.5;% (2 = default)
%D = 300;% (700 = default)
% Für 3°/s
% For 3 deg/s
P = 200;% (400 = default)
I = 1.0;% (2 = default)
D = 300;% (700 = default)
......
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