some changes: bug fixes, working with PMC007

commandline/cfg/2dirturret/Readme

@@ -0,0 +1,32 @@
+scripts for two-direction turret
+
+lambda/4
+rotates in negative direction
+speed=400
+full circle = 400 steps (12800 microsteps for 1/32)
+35.(5) microsteps per 1 degree
+
+turrret
+rotates in positive direction
+speed=1000
+full circle = 200 steps (6400 mircosteps for 1/32)
+six positions, so distance between positions is 1066.(6) microsteps
+
+
+scripts:
+
+Tinit - init stepper driver (run just after power on)
+Tgotopos - move turret to given position (0..5)
+Rgotoangle - rotate rotator to given angle (0..359 degrees)
+
+WARNING! If LIM1=1 (i.e. one of limit switches active) but lsw activated by other device than you want move,
+you won't be able to move it!
+
+So, if you need to move turret to some position when rotator is at 0 angle, you should first remove rotator from
+limit switch (at least to 30 degrees), then rotate turret and after all move rotator to given angle.
+The same is for turret position 2: it always on LIM1, so to move rotator when turret is on 2 you should move
+turret to any other position first, after that you will be able to rotate rotator
+
+To check just run 
+steppermove -vvvw -E3 -I11
+(twice, if first run won't show you limit switches), and you will see value of LIM1.

commandline/cfg/2dirturret/Rgotoangle

@@ -0,0 +1,46 @@
+#!/bin/bash
+
+CANID=11
+STPPERROT=12800
+
+function onlim(){
+	eval $(steppermove -I11 -E3 | grep LIM1)
+	echo $LIM1
+}
+
+
+if [[ $# != 1 ]]; then
+	echo -e "Usage: $(basename $0) position\n\twhere 'position' is an angle [integer number!!!] from 0 to 360\t0 - limit switch position" >&2
+	exit 1
+fi
+
+if (( $1 > 360 || $1 < 0 )); then
+	echo "'position' should be from 0 360" >&2
+	exit 1
+fi
+
+steppermove -I${CANID} -m1000 
+if [[ $(onlim) == "1" ]]; then
+	echo "Go out from limit switch"
+	steppermove -I${CANID} -cA
+	steppermove -I${CANID} -r -$((STPPERROT / 4)) -w
+	steppermove -I${CANID} -E3 -m1000
+	if (( $(onlim) == 1 )); then
+		echo "TURRET is on limit switch, rotate it first!" >&2
+		exit 1
+	fi
+fi
+
+echo "Go to limit switch"
+steppermove -I${CANID} -E3 -r -$STPPERROT -w
+steppermove -I${CANID} -cA -w
+
+if (( $1 != 0 )); then
+	STP=$(printf %.0f $(echo "12800/360*$1 + 31" | bc -l))
+	STP=$(( STP/32*32 ))
+	echo "Go to angle $1"
+	steppermove -I${CANID} -r -$STP -w
+fi
+
+echo "OK, at place!"
+steppermove -I${CANID} -E3 

commandline/cfg/2dirturret/Start_settings.cfg

@@ -0,0 +1,35 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set heartbeat time to 0
+0x1017, 0, 0
+
+# Turn off offline programming
+0x6018, 1, 0
+0x6018, 2, 0
+
+# Set Node ID to 11
+0x2002, 0, 11
+# Set speed to 250 (0-20, 1-25, 2-50, 3-100, 4-125, 5-250, 6-500, 7-800, 8-1000)
+0x2003, 0, 5
+
+# Set microstepping to 32
+0x600A, 0, 32
+# Set max phase current to 1.0A
+0x600B, 0, 1000
+# Set acceleration (0 - no, 1 - highest, 8 - lowest)
+0x6008, 0, 2
+# Set deceleration
+0x6009, 0, 2
+
+# EXT1&EXT2 emergency stop @ rising edge (normal state == 0)
+# Rising edge for triggers
+0x600F, 2, 3
+# Pullup for triggers on rising edge
+0x600F, 3, 3
+# Enable 
+0x600F, 1, 3
+
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/2dirturret/Tgotopos

@@ -0,0 +1,43 @@
+#!/bin/bash
+
+CANID=11
+STPPERROT=6400
+# positions: amount of steps for each turret position
+POSITIONS=(4224   5291   6357   7424   8491   9557)
+
+function onlim(){
+    eval $(steppermove -I11 -E3 | grep LIM1)
+    echo $LIM1
+}
+
+if [[ $# != 1 ]]; then
+	echo -e "Usage: $(basename $0) position\n\twhere 'position' is a number from 0 to 5\t0 is closed diaphragm" >&2
+	exit 1
+fi
+
+if (( $1 > 5 || $1 < 0 )); then
+	echo "'position' should be from 0 (closed) to 5" >&2
+	exit 1
+fi
+
+steppermove -I${CANID} -m400
+if [[ $(onlim) == 1 ]]; then
+    echo "Go out from limit switch"
+    steppermove -I${CANID} -cA
+    steppermove -I${CANID} -m1000 -r $((STPPERROT / 4)) -w
+    steppermove -I${CANID} -m400
+    if (( $(onlim) == 1 )); then
+        echo "ROTATOR is on limit switch, rotate it first!" >&2
+        exit 1
+    fi
+fi
+
+echo "Go to limit switch"
+steppermove -I${CANID} -E3 -r $STPPERROT -w
+steppermove -I${CANID} -cA -w
+
+echo "Go to position  $1"
+steppermove -I${CANID} -r ${POSITIONS[$1]} -w
+
+echo "OK, at place!"
+steppermove -I${CANID} -E3

commandline/cfg/2dirturret/Tinit

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+CANID=11
+
+steppermove -vvv -I${CANID} -cE3 -s250 -m400 -w

commandline/cfg/3axiscorr/Readme

@@ -0,0 +1 @@
+scripts for 3-motor local corrector

commandline/cfg/3axiscorr/loccorr_init

@@ -0,0 +1,19 @@
+#!/bin/sh
+
+# init 3-point local corrector 
+
+for I in 2 10 11; do
+	./steppermove -I$I -m8000 -r-10000
+done
+
+for I in 2 10 11; do
+	./steppermove -I$I -w
+done
+
+for I in 2 10 11; do
+	./steppermove -I$I -0
+done
+
+for I in 2 10 11; do
+	./steppermove -I$I -a 7200
+done

commandline/cfg/3axiscorr/loccorr_telepalka

@@ -0,0 +1,24 @@
+#!/bin/sh
+
+# random move 3-point local corrector around middle point
+
+function rmove(){ # $1 - current motor index, $2 - index of motor to correct into+, $3 - relative steps
+	arr=(2 10 11) # ID's of motors
+	ID=${arr[$1]}
+	#./steppermove -I$ID -w
+	if [[ $1 -ne $2 ]]; then # move to minus
+		./steppermove -I$ID -a $(( 7200 - S ))
+	else # move to plus
+		./steppermove -I$ID -a $(( 7200 + S ))
+	fi
+}
+
+trap "echo Exited!; exit;" SIGINT SIGTERM
+
+while true; do
+	I=$(( RANDOM % 3 ))
+	S=$(( RANDOM % 1280 ))
+	for i in 0 1 2; do
+		rmove $i $I $S
+	done
+done

commandline/cfg/Start_settings.cfg

@@ -8,13 +8,19 @@
 0x6018, 1, 0
 0x6018, 2, 0
 
-# Set Node ID to 10
-0x2002, 0, 10
+# Set Node ID to 11
+0x2002, 0, 11
 # Set speed to 250 (0-20, 1-25, 2-50, 3-100, 4-125, 5-250, 6-500, 7-800, 8-1000)
 0x2003, 0, 5
 
+# Set microstepping to 32
+0x600A, 0, 32
 # Set max phase current to 1.5A
 0x600B, 0, 1500
+# Set acceleration (0 - no, 1 - highest, 8 - lowest)
+0x6008, 0, 2
+# Set deceleration
+0x6009, 0, 2
 
 # EXT1&EXT2 emergency stop: EXT1@falling edge (normal state == 1), EXT2@rising edge (normal state == 0)
 # Falling edge for trigger #1 

commandline/cfg/Start_settingsA.cfg

@@ -0,0 +1,20 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# Set heartbeat time to 0
+0x1017, 0, 0
+
+# Turn off offline programming
+0x6018, 1, 0
+0x6018, 2, 0
+
+# Set Node ID 
+0x2002, 0, 11
+# Set speed to 250 (0-20, 1-25, 2-50, 3-100, 4-125, 5-250, 6-500, 7-800, 8-1000)
+0x2003, 0, 5
+
+# Set max phase current to x mA
+0x600B, 0, 1000
+
+# Save parameters
+0x2007, 0, 2

commandline/cfg/endswitchesOFF.cfg

@@ -0,0 +1,2 @@
+# Disable EXT1, EXT2
+0x600F, 1, 0

commandline/cfg/endswitches_NC_Pullup.cfg

@@ -0,0 +1,13 @@
+# Transmit SDO to driver
+# Format: index, subindex, data
+
+# EXT1 emergency stop @ rising edge (normal state == 0)
+# Rising edge for trigger #1 
+0x600F, 2, 3
+# Pullup for triggers on rising edge
+0x600F, 3, 3
+# Enable EXT1
+0x600F, 1, 3
+
+# save settings
+#0x2007, 0, 2