1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
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
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
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
|
#!/bin/sh
# the next line restarts using emcsh \
exec $LINUXCNC_EMCSH "$0" "$@"
# Load the linuxcnc.tcl file, which defines variables for various useful paths
source [file join [file dirname [info script]] .. linuxcnc.tcl]
eval emc_init $argv
###############################################################
# Description: emctuning.tcl
# EMC system identification and autotuning program
#
# Derived from a work by Fred Proctor & Will Shackleford
# License: GPL Version 2
#
# Copyright (c) 2005-2009 All rights reserved.
###############################################################
# emctuning.tcl
# EMC system identification and autotuning program
# Needs emcsh to run-- this is sourced by tkemc, but it can be run
# standalone. Make sure directory containing emcsh is in your path,
# or edit the exec line above with the path to emcsh.
# check if any emc commands exist, and quit if not
if {! [string length [info commands emc_plat]]} {
error "emctuning needs to run from \"emcsh\""
}
# set cycle time for updating, using tkemc's displayCycleTime if
# present or our own if not
if {! [info exists displayCycleTime]} {
set displayCycleTime 100
}
if {! [info exists activeAxis]} {
set activeAxis 0
}
proc goManual {} {
emc_machine off
emc_estop off
emc_mode manual
}
proc setVoltage {} {
global stepvolts
global activeAxis
emc_axis_enable $activeAxis 1
emc_axis_set_output $activeAxis $stepvolts
}
proc logIt {} {
global stepsize
global activeAxis
global stepfilename
global stepssaved
emc_log_open $stepfilename$stepssaved pos_voltage $stepsize 0 $activeAxis
emc_wait done
emc_log_start
}
proc getStep {} {
goManual
logIt
setVoltage
}
proc saveStep {} {
global stepssaved
global filestring
global stepfilename
append filestring "$stepfilename$stepssaved "
set stepssaved [expr $stepssaved + 1]
emc_log_stop
emc_log_close
}
proc doTune {} {
global filestring
global pgain
global igain
global dgain
global lambda
set string "$filestring$lambda"
scan [exec -- /usr/local/nist/emc/system $string] %s%s%s pgain igain dgain
}
# close the tuning window
proc popdownTuning {w} {
destroy $w
if {$w == "."} {
exit
}
}
# pop up the tuning window
proc popupTuning {{w .logwindow}} {
global activeAxis
global ampenable
global stepvolts
global stepsize
global stepssaved
global stepfilename
global filestring
global lambda
global pgain
global igain
global dgain
set pgain 0
set igain 0
set dgain 0
set c .tuning
set stepssaved 0
set filestring ""
# trap "." as window name, and erase it, so that widgets
# don't begin with two dots. We'll refer to the passed-in
# name "w" here; in code following this setup we'll use the
# modified name "lw"
if {$w == "."} {
set lw ""
wm title $w "EMC Tuning"
} else {
set lw $w
if {[winfo exists $w]} {
wm deiconify $w
raise $w
focus $w
return
}
toplevel $w
wm title $w "EMC Tuning"
}
# use "lw" as name of top level from now on
# force the button to reflect actual state
set ampenable [emc_axis_enable $activeAxis]
label $lw.title -text "Tuning Axis $activeAxis" -width 30 -anchor center
frame $lw.outvolts
label $lw.outvolts.lab -text "Step Voltage:" -anchor w
entry $lw.outvolts.ent -width 10 -textvariable stepvolts
frame $lw.size
label $lw.size.lab -text "Number of Samples:" -anchor w
entry $lw.size.ent -width 10 -textvariable stepsize
frame $lw.name
label $lw.name.lab -text "filename:" -anchor w
entry $lw.name.ent -width 10 -textvariable stepfilename
frame $lw.stepssaved
label $lw.stepssaved.lab -text "Number of steps:" -anchor w
label $lw.stepssaved.value -width 2 -textvariable stepssaved
frame $lw.step
button $lw.step.start -text "getStep" -command getStep
button $lw.step.save -text "saveStep" -command saveStep
button $lw.step.jogback -text "jogBack"
bind $lw.step.jogback <ButtonPress-1> {jogNeg $activeAxis}
bind $lw.step.jogback <ButtonRelease-1> {jogStop}
frame $lw.lambda
label $lw.lambda.lab -text "Lambda:" -anchor w
entry $lw.lambda.ent -width 10 -textvariable lambda
button $lw.dotune -text "doTune" -command doTune
frame $lw.p
frame $lw.i
frame $lw.d
label $lw.p.desc -text "P gain"
label $lw.i.desc -text "I gain"
label $lw.d.desc -text "D gain"
label $lw.p.value -textvariable pgain
label $lw.i.value -textvariable igain
label $lw.d.value -textvariable dgain
button $lw.done -text "OK" -default active -command "popdownTuning $w"
pack $lw.title -side top -fill x
pack $lw.outvolts -side top -fill x
pack $lw.outvolts.lab -side left
pack $lw.outvolts.ent -side right
pack $lw.size -side top -fill x
pack $lw.size.lab -side left
pack $lw.size.ent -side right
pack $lw.name -side top -fill x
pack $lw.name.lab -side left
pack $lw.name.ent -side right
pack $lw.stepssaved -side top -fill x
pack $lw.stepssaved.lab -side left
pack $lw.stepssaved.value -side left
pack $lw.step -side top -fill x
pack $lw.step.start -side left
pack $lw.step.save -side left
pack $lw.step.jogback -side left
pack $lw.lambda -side top -fill x
pack $lw.lambda.lab -side left
pack $lw.lambda.ent -side right
pack $lw.dotune -side top
pack $lw.p -side top -fill x
pack $lw.p.desc -side left
pack $lw.p.value -side left
pack $lw.i -side top -fill x
pack $lw.i.desc -side left
pack $lw.i.value -side left
pack $lw.d -side top -fill x
pack $lw.d.desc -side left
pack $lw.d.value -side left
pack $lw.done -side top
bind $w <Return> "popdownTuning $w"
}
# if we're not running inside tkemc, then pop us up in root window
if {! [info exists tkemc]} {
popupTuning .
}
|
