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Wang Dequan
225
tcl/bin/emctuning.tcl
Executable file
225
tcl/bin/emctuning.tcl
Executable file
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#!/bin/sh
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# the next line restarts using emcsh \
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exec $LINUXCNC_EMCSH "$0" "$@"
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# Load the linuxcnc.tcl file, which defines variables for various useful paths
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source [file join [file dirname [info script]] .. linuxcnc.tcl]
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eval emc_init $argv
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###############################################################
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# Description: emctuning.tcl
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# EMC system identification and autotuning program
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#
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# Derived from a work by Fred Proctor & Will Shackleford
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# License: GPL Version 2
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#
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# Copyright (c) 2005-2009 All rights reserved.
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###############################################################
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# emctuning.tcl
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# EMC system identification and autotuning program
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# Needs emcsh to run-- this is sourced by tkemc, but it can be run
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# standalone. Make sure directory containing emcsh is in your path,
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# or edit the exec line above with the path to emcsh.
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# check if any emc commands exist, and quit if not
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if {! [string length [info commands emc_plat]]} {
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error "emctuning needs to run from \"emcsh\""
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}
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# set cycle time for updating, using tkemc's displayCycleTime if
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# present or our own if not
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if {! [info exists displayCycleTime]} {
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set displayCycleTime 100
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}
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if {! [info exists activeAxis]} {
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set activeAxis 0
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}
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proc goManual {} {
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emc_machine off
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emc_estop off
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emc_mode manual
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}
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proc setVoltage {} {
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global stepvolts
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global activeAxis
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emc_axis_enable $activeAxis 1
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emc_axis_set_output $activeAxis $stepvolts
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}
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proc logIt {} {
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global stepsize
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global activeAxis
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global stepfilename
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global stepssaved
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emc_log_open $stepfilename$stepssaved pos_voltage $stepsize 0 $activeAxis
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emc_wait done
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emc_log_start
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}
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proc getStep {} {
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goManual
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logIt
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setVoltage
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}
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proc saveStep {} {
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global stepssaved
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global filestring
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global stepfilename
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append filestring "$stepfilename$stepssaved "
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set stepssaved [expr $stepssaved + 1]
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emc_log_stop
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emc_log_close
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}
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proc doTune {} {
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global filestring
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global pgain
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global igain
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global dgain
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global lambda
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set string "$filestring$lambda"
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scan [exec -- /usr/local/nist/emc/system $string] %s%s%s pgain igain dgain
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}
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# close the tuning window
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proc popdownTuning {w} {
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destroy $w
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if {$w == "."} {
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exit
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}
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}
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# pop up the tuning window
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proc popupTuning {{w .logwindow}} {
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global activeAxis
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global ampenable
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global stepvolts
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global stepsize
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global stepssaved
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global stepfilename
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global filestring
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global lambda
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global pgain
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global igain
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global dgain
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set pgain 0
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set igain 0
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set dgain 0
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set c .tuning
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set stepssaved 0
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set filestring ""
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# trap "." as window name, and erase it, so that widgets
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# don't begin with two dots. We'll refer to the passed-in
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# name "w" here; in code following this setup we'll use the
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# modified name "lw"
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if {$w == "."} {
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set lw ""
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wm title $w "EMC Tuning"
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} else {
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set lw $w
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if {[winfo exists $w]} {
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wm deiconify $w
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raise $w
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focus $w
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return
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}
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toplevel $w
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wm title $w "EMC Tuning"
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}
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# use "lw" as name of top level from now on
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# force the button to reflect actual state
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set ampenable [emc_axis_enable $activeAxis]
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label $lw.title -text "Tuning Axis $activeAxis" -width 30 -anchor center
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frame $lw.outvolts
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label $lw.outvolts.lab -text "Step Voltage:" -anchor w
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entry $lw.outvolts.ent -width 10 -textvariable stepvolts
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frame $lw.size
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label $lw.size.lab -text "Number of Samples:" -anchor w
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entry $lw.size.ent -width 10 -textvariable stepsize
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frame $lw.name
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label $lw.name.lab -text "filename:" -anchor w
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entry $lw.name.ent -width 10 -textvariable stepfilename
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frame $lw.stepssaved
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label $lw.stepssaved.lab -text "Number of steps:" -anchor w
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label $lw.stepssaved.value -width 2 -textvariable stepssaved
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frame $lw.step
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button $lw.step.start -text "getStep" -command getStep
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button $lw.step.save -text "saveStep" -command saveStep
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button $lw.step.jogback -text "jogBack"
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bind $lw.step.jogback <ButtonPress-1> {jogNeg $activeAxis}
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bind $lw.step.jogback <ButtonRelease-1> {jogStop}
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frame $lw.lambda
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label $lw.lambda.lab -text "Lambda:" -anchor w
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entry $lw.lambda.ent -width 10 -textvariable lambda
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button $lw.dotune -text "doTune" -command doTune
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frame $lw.p
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frame $lw.i
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frame $lw.d
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label $lw.p.desc -text "P gain"
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label $lw.i.desc -text "I gain"
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label $lw.d.desc -text "D gain"
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label $lw.p.value -textvariable pgain
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label $lw.i.value -textvariable igain
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label $lw.d.value -textvariable dgain
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button $lw.done -text "OK" -default active -command "popdownTuning $w"
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pack $lw.title -side top -fill x
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pack $lw.outvolts -side top -fill x
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pack $lw.outvolts.lab -side left
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pack $lw.outvolts.ent -side right
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pack $lw.size -side top -fill x
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pack $lw.size.lab -side left
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pack $lw.size.ent -side right
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pack $lw.name -side top -fill x
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pack $lw.name.lab -side left
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pack $lw.name.ent -side right
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pack $lw.stepssaved -side top -fill x
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pack $lw.stepssaved.lab -side left
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pack $lw.stepssaved.value -side left
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pack $lw.step -side top -fill x
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pack $lw.step.start -side left
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pack $lw.step.save -side left
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pack $lw.step.jogback -side left
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pack $lw.lambda -side top -fill x
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pack $lw.lambda.lab -side left
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pack $lw.lambda.ent -side right
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pack $lw.dotune -side top
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pack $lw.p -side top -fill x
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pack $lw.p.desc -side left
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pack $lw.p.value -side left
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pack $lw.i -side top -fill x
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pack $lw.i.desc -side left
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pack $lw.i.value -side left
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pack $lw.d -side top -fill x
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pack $lw.d.desc -side left
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pack $lw.d.value -side left
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pack $lw.done -side top
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bind $w <Return> "popdownTuning $w"
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}
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# if we're not running inside tkemc, then pop us up in root window
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if {! [info exists tkemc]} {
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popupTuning .
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}
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