mirror of
https://github.com/eddyem/zeiss_utils.git
synced 2025-12-06 10:45:17 +03:00
Change motion parameters and focus to positive direction
This commit is contained in:
parent
f410c34c10
commit
abe934338b
@ -45,24 +45,33 @@
|
||||
// rev/min to raw speed value
|
||||
#define RAWSPEED(x) (x*5)
|
||||
// max/min speed (rev/min)
|
||||
#define MAXSPEED 1200
|
||||
#define MINSPEED 350
|
||||
#define MAXSPEED (1200)
|
||||
#define MINSPEED (350)
|
||||
// encoder differences (if larger) for speed (MAXSPEED, MAXSPEED/2 and MAXSPEED/3) select
|
||||
#define ENCODER_DIFF_SPEED1 (1500)
|
||||
#define ENCODER_DIFF_SPEED2 (500)
|
||||
#define ENCODER_DIFF_SPEED3 (150)
|
||||
// speed to move from ESW
|
||||
#define ESWSPEED 350
|
||||
#define ESWSPEED (350)
|
||||
// moving timeout: 5minutes
|
||||
#define MOVING_TIMEOUT (300)
|
||||
// correction parameters: steps after stopping = CORR0 + (CORR1 + CORR2*rs)*rs)
|
||||
// where rs is raw speed
|
||||
#define CORR0 (-46.0)
|
||||
#define CORR1 (4.2857e-3)
|
||||
#define CORR2 (1.5714e-5)
|
||||
|
||||
|
||||
// constants for focus conversion: foc_mm = (foc_raw - FOCRAW_0) / FOCSCALE_MM
|
||||
#define FOCSCALE_MM 4096.
|
||||
#define FOCRAW_0 15963187.
|
||||
#define FOCSCALE_MM (4096.)
|
||||
#define FOCRAW_0 (15963187.)
|
||||
#define FOC_RAW2MM(x) (((x)-FOCRAW_0)/FOCSCALE_MM)
|
||||
#define FOC_MM2RAW(x) (FOCRAW_0+(x)*FOCSCALE_MM)
|
||||
|
||||
// raw position precision - 2.5um
|
||||
#define RAWPOS_TOLERANCE 10
|
||||
// raw dF value for accurate focussing (rough move to F+dF0 and after this slow move to F)
|
||||
#define dF0 500
|
||||
// raw dF value for accurate focussing (rough move to F-dF0 and after this slow move to F)
|
||||
#define dF0 250
|
||||
// minimal & maximal focus positions (should be >min+dF0 & <max-dF0)
|
||||
#define FOCMIN_MM 2.75
|
||||
#define FOCMAX_MM 76.
|
||||
|
||||
13
Z1000_focus/Readme_calculate_PARAMS
Normal file
13
Z1000_focus/Readme_calculate_PARAMS
Normal file
@ -0,0 +1,13 @@
|
||||
Запустить в режиме standalone с нужной скоростью:
|
||||
./can_focus -Am <speed>
|
||||
Смотреть последнюю строчку выхлопа: Stopped for <время остановки> <DPOS>
|
||||
DPOS здесь - количество шагов, на которое "уехал" фокус после команды "стоп".
|
||||
Погонять с разными скоростями в разных направлениях, посчитать примерную зависимость.
|
||||
|
||||
Посчитать в октаве:
|
||||
speed=5*[400 600 800 1000 1200]' % скорость (скорость в шагах и rawspeed отличаются в 5 раз)
|
||||
dx=[25 110 220 370 545]' % усредненные между + и - смещения
|
||||
N=[ones(size(steps)) steps steps.^2] % матрица аргумента
|
||||
k = N \ dx % коэффициенты аппроксимации dx = k0 + k1*steps + k2*steps^2
|
||||
|
||||
|
||||
@ -706,7 +706,8 @@ static int move(unsigned long targposition, int16_t rawspeed){
|
||||
// in rawspeed = -27.96 + 1.84e-2*v + 1.52e-5*v^2
|
||||
double rs = fabs((double)rawspeed);
|
||||
//double cv = (-27.96 + (1.84e-2 + 1.52e-5*rs)*rs);
|
||||
double cv = (-50. + (1.84e-2 + 1.52e-5*rs)*rs);
|
||||
double cv = (CORR0 + (CORR1 + CORR2 * rs)*rs);
|
||||
DBG("Corr coefficients: %g, %g, %g; raw speed: %g", CORR0, CORR1, CORR2, rs);
|
||||
long corrvalue = (long) cv; // correction due to stopping ramp
|
||||
if(corrvalue < 10) corrvalue = 10;
|
||||
DBG("start-> curpos: %ld, difference: %ld, corrval: %ld",
|
||||
@ -755,7 +756,7 @@ static int move(unsigned long targposition, int16_t rawspeed){
|
||||
++errctr;
|
||||
DBG("errctr: %d", errctr);
|
||||
if(errctr > STALL_MAXCTR) break;
|
||||
}
|
||||
}else errctr = 0;
|
||||
olddiffr = diffr;
|
||||
}
|
||||
if(can_dtime() - t0 > MOVING_TIMEOUT){
|
||||
@ -796,13 +797,12 @@ int move2pos(double target){
|
||||
verbose("Already at position\n");
|
||||
return 0;
|
||||
}
|
||||
long spd, targ0pos = (long)targposition + (long)dF0, absdiff = labs(targ0pos - (long)curposition),
|
||||
long spd, targ0pos = (long)targposition - (long)dF0, absdiff = labs(targ0pos - (long)curposition),
|
||||
sign = (targ0pos > (long)curposition) ? 1 : -1;
|
||||
DBG("absdiff: %ld", absdiff);
|
||||
// move not less than for 1s
|
||||
if(absdiff > 1500) spd = sign*MAXSPEED;
|
||||
else if(absdiff > 500) spd = sign*MAXSPEED / 2;
|
||||
else if(absdiff > 150) spd = sign*MAXSPEED / 3;
|
||||
if(absdiff > ENCODER_DIFF_SPEED1) spd = sign*MAXSPEED;
|
||||
else if(absdiff > ENCODER_DIFF_SPEED2) spd = sign*MAXSPEED / 2;
|
||||
else if(absdiff > ENCODER_DIFF_SPEED3) spd = sign*MAXSPEED / 3;
|
||||
else spd = sign*MINSPEED;
|
||||
int16_t targspd = (int16_t) spd;
|
||||
DBG("TARGSPD: %d", targspd);
|
||||
@ -810,16 +810,16 @@ int move2pos(double target){
|
||||
else if(spd < INT16_MIN) targspd = INT16_MIN;
|
||||
fix_targspeed(&targspd);*/
|
||||
// check moving direction: thin focus correction always should run to negative!
|
||||
if(targposition < curposition){ // we are from the right
|
||||
if(targspd < -MINSPEED*3/2){ // omit rough moving to focus value if there's too little distance towards target
|
||||
if(targposition > curposition){ // we are from the left
|
||||
if(targspd > MINSPEED*3/2){ // omit rough moving to focus value if there's too little distance towards target
|
||||
// rough moving
|
||||
DBG("1) ROUGH move to the LEFT: curpos=%ld, difference=%ld\n", curposition, targ0pos - (long)curposition);
|
||||
DBG("1) ROUGH move to the RIGHT: curpos=%ld, difference=%ld\n", curposition, targ0pos - (long)curposition);
|
||||
if(move(targ0pos, RAWSPEED(targspd))){
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
}else{ // we are from the left - move to the point @ right side of target
|
||||
DBG("1) ROUGH move to the RIGHT: curpos=%ld, difference=%ld\n", curposition, targ0pos - (long)curposition);
|
||||
}else{ // we are from the right - move to the point @ left side of target
|
||||
DBG("1) ROUGH move to the LEFT: curpos=%ld, difference=%ld\n", curposition, targ0pos - (long)curposition);
|
||||
if(move(targ0pos, RAWSPEED(targspd))){
|
||||
DBG("Error in move?");
|
||||
return 1;
|
||||
@ -835,17 +835,13 @@ int move2pos(double target){
|
||||
DBG("Catch the position @ rough moving");
|
||||
return 0;
|
||||
}
|
||||
if(curposition < targposition){
|
||||
if(curposition > targposition){ // we should be from the left of target
|
||||
WARNX("Error in current position: %.3f instead of %.3f!", FOC_RAW2MM(curposition), FOC_RAW2MM(targposition));
|
||||
return 1;
|
||||
}
|
||||
DBG("2) curpos: %ld, difference: %ld\n", curposition, (long)targposition - (long)curposition);
|
||||
//sleep(3);
|
||||
/*DBG("NOW MOVE");
|
||||
move(targposition, -800);
|
||||
DBG("NOW MOVE MORE");*/
|
||||
// now make an accurate moving
|
||||
if(move(targposition, -(RAWSPEED(MINSPEED)))){
|
||||
if(move(targposition, RAWSPEED(MINSPEED))){
|
||||
WARNX("Can't catch focus precisely!");
|
||||
return 1;
|
||||
}
|
||||
|
||||
@ -45,8 +45,8 @@ int verbose(const char *fmt, ...){
|
||||
return i;
|
||||
}
|
||||
|
||||
static pid_t childpid;
|
||||
void signals(int signo){
|
||||
unlink_pidfile();
|
||||
can_exit(signo);
|
||||
}
|
||||
|
||||
@ -89,20 +89,17 @@ int main (int argc, char *argv[]){
|
||||
signal(SIGTSTP, SIG_IGN);
|
||||
signal(SIGHUP, SIG_IGN);
|
||||
can_dev[8] = '1';
|
||||
/*
|
||||
if(G->server || G->standalone){ // init hardware
|
||||
check4running(G->pidfilename);
|
||||
}
|
||||
*/
|
||||
|
||||
if(G->server){ // daemonize & run server
|
||||
#if !defined EBUG
|
||||
#ifndef EBUG
|
||||
if(daemon(1, 0)){
|
||||
ERR("daemon()");
|
||||
};
|
||||
}
|
||||
#endif
|
||||
check4running(G->pidfilename);
|
||||
#ifndef EBUG
|
||||
while(1){ // guard for dead processes
|
||||
childpid = fork();
|
||||
pid_t childpid = fork();
|
||||
if(childpid){
|
||||
DBG("child: %d", childpid);
|
||||
wait(NULL);
|
||||
@ -121,6 +118,13 @@ int main (int argc, char *argv[]){
|
||||
daemonize(G->port);
|
||||
}
|
||||
}
|
||||
#else
|
||||
if(G->logname){ // open log file in child
|
||||
openlogfile(G->logname);
|
||||
putlog("Running in debug mode, PID %d", getpid());
|
||||
}
|
||||
daemonize(G->port);
|
||||
#endif
|
||||
}else if(!G->standalone){
|
||||
cmdparser();
|
||||
return 0;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user