rendered paste body? cleanup.diff
? varchanges.diff
? emc/kinematics/yourkins.c
Index: emc/ini/initraj.cc
===================================================================
RCS file: /cvs/emc2/src/emc/ini/initraj.cc,v
retrieving revision 1.17
diff -u -r1.17 initraj.cc
--- emc/ini/initraj.cc 25 Sep 2006 23:06:44 -0000 1.17
+++ emc/ini/initraj.cc 28 Sep 2006 20:24:17 -0000
@@ -56,8 +56,6 @@
emcTrajSetMaxVelocity(double vel);
emcTrajSetMaxAcceleration(double acc);
emcTrajSetHome(EmcPose home);
- emcTrajSetProbeIndex(int index);
- emcTrajSetProbePolarity(int polarity);
*/
static int loadTraj()
@@ -77,8 +75,6 @@
char home[LINELEN];
EmcPose homePose = { {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0 };
double d;
-// int index;
-// int polarity;
if (NULL != (inistring = trajInifile->find("AXES", "TRAJ"))) {
if (1 == sscanf(inistring, "%d", &axes)) {
Index: emc/motion/command.c
===================================================================
RCS file: /cvs/emc2/src/emc/motion/command.c,v
retrieving revision 1.63
diff -u -r1.63 command.c
--- emc/motion/command.c 27 Sep 2006 19:19:02 -0000 1.63
+++ emc/motion/command.c 28 Sep 2006 20:24:19 -0000
@@ -310,7 +310,7 @@
*/
void emcmotAioWrite(int index, double value)
{
- rtapi_print_msg(RTAPI_MSG_ERR, "emcmotAioWrite called, yet not implemented\n");
+ reportError("emcmotAioWrite called, yet not implemented\n");
}
/*
Index: emc/motion/emcmotglb.h
===================================================================
RCS file: /cvs/emc2/src/emc/motion/emcmotglb.h,v
retrieving revision 1.8
diff -u -r1.8 emcmotglb.h
--- emc/motion/emcmotglb.h 13 Jun 2005 14:38:42 -0000 1.8
+++ emc/motion/emcmotglb.h 28 Sep 2006 20:24:19 -0000
@@ -63,27 +63,8 @@
#endif
extern double MAX_FERROR;
-
-/*! \todo Another #if 0 */
-#if 0
- extern double P_GAIN;
- extern double I_GAIN;
- extern double D_GAIN;
- extern double FF0_GAIN;
- extern double FF1_GAIN;
- extern double FF2_GAIN;
- extern double BIAS;
- extern double MAX_ERROR;
-#endif
extern double BACKLASH;
-/*! \todo Another #if 0 */
-#if 0
- extern double INPUT_SCALE;
- extern double INPUT_OFFSET;
- extern double OUTPUT_SCALE;
- extern double OUTPUT_OFFSET;
-#endif
#ifdef __cplusplus
} /* matches extern "C" at top */
Index: emc/motion/motion.c
===================================================================
RCS file: /cvs/emc2/src/emc/motion/motion.c,v
retrieving revision 1.69
diff -u -r1.69 motion.c
--- emc/motion/motion.c 23 Sep 2006 00:35:42 -0000 1.69
+++ emc/motion/motion.c 28 Sep 2006 20:24:20 -0000
@@ -174,9 +174,6 @@
{
int retval;
- /*! \todo FIXME - debug only */
-// rtapi_set_msg_level(RTAPI_MSG_ALL);
-
rtapi_print_msg(RTAPI_MSG_INFO, "MOTION: init_module() starting...\n");
/* set flag */
Index: emc/motion/usrmotintf.cc
===================================================================
RCS file: /cvs/emc2/src/emc/motion/usrmotintf.cc,v
retrieving revision 1.14
diff -u -r1.14 usrmotintf.cc
--- emc/motion/usrmotintf.cc 17 May 2006 08:18:35 -0000 1.14
+++ emc/motion/usrmotintf.cc 28 Sep 2006 20:24:22 -0000
@@ -524,15 +524,6 @@
}
printf("\n");
#endif
-/*! \todo Another #if 0 */
-#if 0
- printf("probe index: %d\n", c.probeIndex);
- printf("probe polarity: %d\n", c.probePolarity);
- for (t = 0; t < EMCMOT_MAX_AXIS; t++) {
- htostr(m, c.axisPolarity[t]);
- printf("%s ", m);
- }
-#endif
printf("\n");
break;
Index: emc/nml_intf/emc.cc
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/emc.cc,v
retrieving revision 1.25
diff -u -r1.25 emc.cc
--- emc/nml_intf/emc.cc 8 Sep 2006 22:30:28 -0000 1.25
+++ emc/nml_intf/emc.cc 28 Sep 2006 20:24:25 -0000
@@ -123,24 +123,15 @@
case EMC_AXIS_SET_AXIS_TYPE:
((EMC_AXIS_SET_AXIS *) buffer)->update(cms);
break;
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- ((EMC_AXIS_SET_CYCLE_TIME *) buffer)->update(cms);
- break;
case EMC_AXIS_SET_FERROR_TYPE:
((EMC_AXIS_SET_FERROR *) buffer)->update(cms);
break;
- case EMC_AXIS_SET_GAINS_TYPE:
- ((EMC_AXIS_SET_GAINS *) buffer)->update(cms);
- break;
case EMC_AXIS_SET_BACKLASH_TYPE:
((EMC_AXIS_SET_BACKLASH *) buffer)->update(cms);
break;
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
((EMC_AXIS_SET_HOMING_PARAMS *) buffer)->update(cms);
break;
- case EMC_AXIS_SET_INPUT_SCALE_TYPE:
- ((EMC_AXIS_SET_INPUT_SCALE *) buffer)->update(cms);
- break;
case EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE:
((EMC_AXIS_SET_MAX_OUTPUT_LIMIT *) buffer)->update(cms);
break;
@@ -162,9 +153,6 @@
case EMC_AXIS_SET_OUTPUT_TYPE:
((EMC_AXIS_SET_OUTPUT *) buffer)->update(cms);
break;
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
- ((EMC_AXIS_SET_OUTPUT_SCALE *) buffer)->update(cms);
- break;
case EMC_AXIS_SET_STEP_PARAMS_TYPE:
((EMC_AXIS_SET_STEP_PARAMS *) buffer)->update(cms);
break;
@@ -282,9 +270,6 @@
case EMC_SET_DIO_INDEX_TYPE:
((EMC_SET_DIO_INDEX *) buffer)->update(cms);
break;
- case EMC_SET_POLARITY_TYPE:
- ((EMC_SET_POLARITY *) buffer)->update(cms);
- break;
case EMC_SPINDLE_ABORT_TYPE:
((EMC_SPINDLE_ABORT *) buffer)->update(cms);
break;
@@ -480,12 +465,6 @@
case EMC_TRAJ_SET_ORIGIN_TYPE:
((EMC_TRAJ_SET_ORIGIN *) buffer)->update(cms);
break;
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- ((EMC_TRAJ_SET_PROBE_INDEX *) buffer)->update(cms);
- break;
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
- ((EMC_TRAJ_SET_PROBE_POLARITY *) buffer)->update(cms);
- break;
case EMC_TRAJ_SET_SCALE_TYPE:
((EMC_TRAJ_SET_SCALE *) buffer)->update(cms);
break;
@@ -577,18 +556,12 @@
return "EMC_AXIS_OVERRIDE_LIMITS";
case EMC_AXIS_SET_AXIS_TYPE:
return "EMC_AXIS_SET_AXIS";
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- return "EMC_AXIS_SET_CYCLE_TIME";
case EMC_AXIS_SET_FERROR_TYPE:
return "EMC_AXIS_SET_FERROR";
- case EMC_AXIS_SET_GAINS_TYPE:
- return "EMC_AXIS_SET_GAINS";
case EMC_AXIS_SET_BACKLASH_TYPE:
return "EMC_AXIS_SET_BACKLASH";
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
return "EMC_AXIS_SET_HOMING_PARAMS";
- case EMC_AXIS_SET_INPUT_SCALE_TYPE:
- return "EMC_AXIS_SET_INPUT_SCALE";
case EMC_AXIS_SET_MAX_OUTPUT_LIMIT_TYPE:
return "EMC_AXIS_SET_MAX_OUTPUT_LIMIT";
case EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE:
@@ -603,8 +576,6 @@
return "EMC_AXIS_SET_MIN_POSITION_LIMIT";
case EMC_AXIS_SET_OUTPUT_TYPE:
return "EMC_AXIS_SET_OUTPUT";
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
- return "EMC_AXIS_SET_OUTPUT_SCALE";
case EMC_AXIS_SET_STEP_PARAMS_TYPE:
return "EMC_AXIS_SET_STEP_PARAMS";
case EMC_AXIS_SET_UNITS_TYPE:
@@ -683,8 +654,6 @@
return "EMC_SET_DEBUG";
case EMC_SET_DIO_INDEX_TYPE:
return "EMC_SET_DIO_INDEX";
- case EMC_SET_POLARITY_TYPE:
- return "EMC_SET_POLARITY";
case EMC_SPINDLE_ABORT_TYPE:
return "EMC_SPINDLE_ABORT";
case EMC_SPINDLE_BRAKE_ENGAGE_TYPE:
@@ -817,10 +786,6 @@
return "EMC_TRAJ_SET_OFFSET";
case EMC_TRAJ_SET_ORIGIN_TYPE:
return "EMC_TRAJ_SET_ORIGIN";
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- return "EMC_TRAJ_SET_PROBE_INDEX";
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
- return "EMC_TRAJ_SET_PROBE_POLARITY";
case EMC_TRAJ_SET_SCALE_TYPE:
return "EMC_TRAJ_SET_SCALE";
case EMC_TRAJ_SET_SPINDLE_SCALE_TYPE:
@@ -1551,20 +1516,6 @@
}
/*
-* NML/CMS Update function for EMC_AXIS_SET_INPUT_SCALE
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:16 UTC 2003
-*/
-void EMC_AXIS_SET_INPUT_SCALE::update(CMS * cms)
-{
-
- EMC_AXIS_CMD_MSG::update(cms);
- cms->update(scale);
- cms->update(offset);
-
-}
-
-/*
* NML/CMS Update function for EMC_COOLANT_STAT_MSG
* Automatically generated by NML CodeGen Java Applet.
* on Sat Oct 11 13:45:16 UTC 2003
@@ -2004,13 +1955,6 @@
cms->update(setup_time);
cms->update(hold_time);
cms->update(homeOffset);
- /*! \todo FIXME - polarities are now handled in HAL */
- cms->update(enablePolarity);
- cms->update(minLimitSwitchPolarity);
- cms->update(maxLimitSwitchPolarity);
- cms->update(homeSwitchPolarity);
- cms->update(homingPolarity);
- cms->update(faultPolarity);
cms->update(setpoint);
cms->update(ferrorCurrent);
cms->update(ferrorHighMark);
@@ -2273,19 +2217,6 @@
}
/*
-* NML/CMS Update function for EMC_TRAJ_SET_PROBE_INDEX
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:16 UTC 2003
-*/
-void EMC_TRAJ_SET_PROBE_INDEX::update(CMS * cms)
-{
-
- EMC_TRAJ_CMD_MSG::update(cms);
- cms->update(index);
-
-}
-
-/*
* NML/CMS Update function for EMC_AXIS_SET_MAX_OUTPUT_LIMIT
* Automatically generated by NML CodeGen Java Applet.
* on Sat Oct 11 13:45:16 UTC 2003
@@ -2311,20 +2242,6 @@
}
/*
-* NML/CMS Update function for EMC_AXIS_SET_OUTPUT_SCALE
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:16 UTC 2003
-*/
-void EMC_AXIS_SET_OUTPUT_SCALE::update(CMS * cms)
-{
-
- EMC_AXIS_CMD_MSG::update(cms);
- cms->update(scale);
- cms->update(offset);
-
-}
-
-/*
* NML/CMS Update function for EMC_SPINDLE_ON
* Automatically generated by NML CodeGen Java Applet.
* on Sat Oct 11 13:45:16 UTC 2003
@@ -2505,28 +2422,7 @@
}
/*
-* NML/CMS Update function for EMC_AXIS_SET_GAINS
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:17 UTC 2003
-*/
-void EMC_AXIS_SET_GAINS::update(CMS * cms)
-{
-
- EMC_AXIS_CMD_MSG::update(cms);
- cms->update(p);
- cms->update(i);
- cms->update(d);
- cms->update(ff0);
- cms->update(ff1);
- cms->update(ff2);
- cms->update(bias);
- cms->update(maxError);
- cms->update(deadband);
-
-}
-
-/*
-* NML/CMS Update function for EMC_AXIS_SET_GAINS
+* NML/CMS Update function for EMC_AXIS_SET_BACKLASH
* Manually generated - don't use NML CodeGen Java Applet.
*/
void EMC_AXIS_SET_BACKLASH::update(CMS * cms)
@@ -2577,19 +2473,6 @@
}
/*
-* NML/CMS Update function for EMC_AXIS_SET_CYCLE_TIME
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:17 UTC 2003
-*/
-void EMC_AXIS_SET_CYCLE_TIME::update(CMS * cms)
-{
-
- EMC_AXIS_CMD_MSG::update(cms);
- cms->update(cycleTime);
-
-}
-
-/*
* NML/CMS Update function for EMC_TRAJ_STAT
* Automatically generated by NML CodeGen Java Applet.
* on Sat Oct 11 13:45:17 UTC 2003
@@ -2775,18 +2658,6 @@
}
/*
-* NML/CMS Update function for EMC_SET_POLARITY
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:17 UTC 2003
-*/
-void EMC_SET_POLARITY::update(CMS * cms)
-{
- cms->update(value);
- cms->update(polarity);
-
-}
-
-/*
* NML/CMS Update function for EMC_AUX_ESTOP_ON
* Automatically generated by NML CodeGen Java Applet.
* on Sat Oct 11 13:45:17 UTC 2003
@@ -3228,18 +3099,6 @@
}
-/*
-* NML/CMS Update function for EMC_TRAJ_SET_PROBE_POLARITY
-* Automatically generated by NML CodeGen Java Applet.
-* on Sat Oct 11 13:45:17 UTC 2003
-*/
-void EMC_TRAJ_SET_PROBE_POLARITY::update(CMS * cms)
-{
-
- EMC_TRAJ_CMD_MSG::update(cms);
- cms->update(polarity);
-
-}
/*
* NML/CMS Update function for EMC_IO_SET_CYCLE_TIME
Index: emc/nml_intf/emc.hh
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/emc.hh,v
retrieving revision 1.38
diff -u -r1.38 emc.hh
--- emc/nml_intf/emc.hh 27 Sep 2006 19:19:03 -0000 1.38
+++ emc/nml_intf/emc.hh 28 Sep 2006 20:24:29 -0000
@@ -45,11 +45,11 @@
#define EMC_AXIS_SET_AXIS_TYPE ((NMLTYPE) 101)
#define EMC_AXIS_SET_UNITS_TYPE ((NMLTYPE) 102)
-/*! \todo FIXME - to be deleted later */
-#define EMC_AXIS_SET_GAINS_TYPE ((NMLTYPE) 103)
-#define EMC_AXIS_SET_CYCLE_TIME_TYPE ((NMLTYPE) 104)
-#define EMC_AXIS_SET_INPUT_SCALE_TYPE ((NMLTYPE) 105)
-#define EMC_AXIS_SET_OUTPUT_SCALE_TYPE ((NMLTYPE) 106)
+/* gap because of deleted message types */
+
+
+
+
#define EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE ((NMLTYPE) 107)
#define EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE ((NMLTYPE) 108)
#define EMC_AXIS_SET_MIN_OUTPUT_LIMIT_TYPE ((NMLTYPE) 109)
@@ -115,8 +115,8 @@
#define EMC_TRAJ_SET_OFFSET_TYPE ((NMLTYPE) 223)
#define EMC_TRAJ_SET_ORIGIN_TYPE ((NMLTYPE) 224)
#define EMC_TRAJ_SET_HOME_TYPE ((NMLTYPE) 225)
-#define EMC_TRAJ_SET_PROBE_INDEX_TYPE ((NMLTYPE) 226)
-#define EMC_TRAJ_SET_PROBE_POLARITY_TYPE ((NMLTYPE) 227)
+/* gap because of removed messages */
+
#define EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE ((NMLTYPE) 228)
#define EMC_TRAJ_PROBE_TYPE ((NMLTYPE) 229)
#define EMC_TRAJ_SET_TELEOP_ENABLE_TYPE ((NMLTYPE) 230)
@@ -231,7 +231,7 @@
#define EMC_SET_DIO_INDEX_TYPE ((NMLTYPE) 5001)
#define EMC_SET_AIO_INDEX_TYPE ((NMLTYPE) 5002)
-#define EMC_SET_POLARITY_TYPE ((NMLTYPE) 5003)
+
// digital IO point indices
enum {
@@ -258,32 +258,6 @@
EMC_SET_AIO_INDEX_SPINDLE_ON = 5201
};
-// IO point polarities
-enum {
- // axis
- EMC_SET_POLARITY_AXIS_ENABLE = 5301,
- EMC_SET_POLARITY_AXIS_MIN_LIMIT_SWITCH,
- EMC_SET_POLARITY_AXIS_MAX_LIMIT_SWITCH,
- EMC_SET_POLARITY_AXIS_HOME_SWITCH,
- EMC_SET_POLARITY_AXIS_HOMING,
- EMC_SET_POLARITY_AXIS_FAULT,
- // spindle
- EMC_SET_POLARITY_SPINDLE_FORWARD,
- EMC_SET_POLARITY_SPINDLE_REVERSE,
- EMC_SET_POLARITY_SPINDLE_DECREASE,
- EMC_SET_POLARITY_SPINDLE_INCREASE,
- EMC_SET_POLARITY_SPINDLE_BRAKE,
- EMC_SET_POLARITY_SPINDLE_ENABLE,
- // coolant
- EMC_SET_POLARITY_COOLANT_MIST,
- EMC_SET_POLARITY_COOLANT_FLOOD,
- // lube
- EMC_SET_POLARITY_LUBE_SENSE,
- // aux
- EMC_SET_POLARITY_ESTOP_SENSE,
- EMC_SET_POLARITY_ESTOP_WRITE
-};
-
// EMC_IO aggregate class type declaration
#define EMC_IO_INIT_TYPE ((NMLTYPE) 1601)
@@ -390,15 +364,8 @@
extern int emcAxisSetAxis(int axis, unsigned char axisType);
extern int emcAxisSetUnits(int axis, double units);
-/*! \todo FIXME - soon to be deleted */
-extern int emcAxisSetGains(int axis, double p, double i, double d,
- double ff0, double ff1, double ff2,
- double bias, double maxError, double deadband);
extern int emcAxisSetBacklash(int axis, double backlash);
-extern int emcAxisSetCycleTime(int axis, double cycleTime);
extern int emcAxisSetInterpolationRate(int axis, int rate);
-extern int emcAxisSetInputScale(int axis, double scale, double offset);
-extern int emcAxisSetOutputScale(int axis, double scale, double offset);
extern int emcAxisSetMinPositionLimit(int axis, double limit);
extern int emcAxisSetMaxPositionLimit(int axis, double limit);
extern int emcAxisSetMotorOffset(int axis, double offset);
@@ -406,22 +373,12 @@
extern int emcAxisSetMaxOutputLimit(int axis, double limit);
extern int emcAxisSetFerror(int axis, double ferror);
extern int emcAxisSetMinFerror(int axis, double ferror);
-/*! \todo FIXME - should be deleted */
-extern int emcAxisSetStepParams(int axis, double setup_time,
- double hold_time);
extern int emcAxisSetHomingParams(int axis, double home, double offset,
double search_vel, double latch_vel,
int use_index, int ignore_limits,
int is_shared, int home_sequence);
extern int emcAxisSetMaxVelocity(int axis, double vel);
extern int emcAxisSetMaxAcceleration(int axis, double acc);
-/*! \todo FIXME - polarity messages should be deleted */
-extern int emcAxisSetEnablePolarity(int axis, int level);
-extern int emcAxisSetMinLimitSwitchPolarity(int axis, int level);
-extern int emcAxisSetMaxLimitSwitchPolarity(int axis, int level);
-extern int emcAxisSetHomeSwitchPolarity(int axis, int level);
-extern int emcAxisSetHomingPolarity(int axis, int level);
-extern int emcAxisSetFaultPolarity(int axis, int level);
extern int emcAxisInit(int axis);
extern int emcAxisHalt(int axis);
@@ -478,8 +435,6 @@
extern int emcTrajSetOffset(EmcPose offset);
extern int emcTrajSetOrigin(EmcPose origin);
extern int emcTrajSetHome(EmcPose home);
-extern int emcTrajSetProbeIndex(int index);
-extern int emcTrajSetProbePolarity(int polarity);
extern int emcTrajClearProbeTrippedFlag();
extern int emcTrajProbe(EmcPose pos, int type, double vel,
double ini_maxvel, double acc);
@@ -556,12 +511,6 @@
extern int emcAuxEstopOff();
extern int emcAuxEstopReset();
-extern int emcAuxEstopSetSenseIndex(int index);
-extern int emcAuxEstopSetWriteIndex(int index);
-
-extern int emcAuxEstopSetSensePolarity(int polarity);
-extern int emcAuxEstopSetWritePolarity(int polarity);
-
class EMC_AUX_STAT; // forward decl
extern int emcAuxUpdate(EMC_AUX_STAT * stat);
@@ -594,13 +543,7 @@
extern int emcMinVoltsPerRpm(double volts);
extern int emcMaxVoltsPerRpm(double volts);
-extern int emcSpindleSetForwardPolarity(int polarity);
-extern int emcSpindleSetReversePolarity(int polarity);
-extern int emcSpindleSetDecreasePolarity(int polarity);
-extern int emcSpindleSetIncreasePolarity(int polarity);
-extern int emcSpindleSetBrakePolarity(int polarity);
-extern int emcSpindleSetEnablePolarity(int polarity);
-
+/*! \todo - FIXME - not used remove */
extern int emcSpindleSetOffWait(double wait);
extern int emcSpindleSetOnWait(double wait);
@@ -617,12 +560,6 @@
extern int emcCoolantFloodOn();
extern int emcCoolantFloodOff();
-extern int emcCoolantSetMistIndex(int index);
-extern int emcCoolantSetFloodIndex(int index);
-
-extern int emcCoolantSetMistPolarity(int polarity);
-extern int emcCoolantSetFloodPolarity(int polarity);
-
class EMC_COOLANT_STAT; // forward decl
extern int emcCoolantUpdate(EMC_COOLANT_STAT * stat);
@@ -634,11 +571,6 @@
extern int emcLubeOn();
extern int emcLubeOff();
-extern int emcLubeSetSenseIndex(int index);
-extern int emcLubeSetSensePolarity(int polarity);
-extern int emcLubeSetWriteIndex(int index);
-extern int emcLubeSetWritePolarity(int polarity);
-
class EMC_LUBE_STAT; // forward decl
extern int emcLubeUpdate(EMC_LUBE_STAT * stat);
@@ -823,30 +755,6 @@
double units;
};
-/**
- * Set the PID gains.
- * This command sets the PID gains as well as a few other parameters used
- * by the PID compensator.
- */
-class EMC_AXIS_SET_GAINS:public EMC_AXIS_CMD_MSG {
- public:
- EMC_AXIS_SET_GAINS():EMC_AXIS_CMD_MSG(EMC_AXIS_SET_GAINS_TYPE,
- sizeof(EMC_AXIS_SET_GAINS)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- double p;
- double i;
- double d;
- double ff0;
- double ff1;
- double ff2;
- double bias;
- double maxError;
- double deadband;
-};
/**
* Set the Axis backlash.
@@ -865,92 +773,6 @@
double backlash;
};
-/**
- * Set the cycle time for the servo task.
- * Increase this value to get more CPU time for running low-priority tasks,
- * decrease it to get more precise control of the motion.
- * There is only one cycle time that applies to all axis, so you might as well
- * set the axis parameter to zero.
- */
-class EMC_AXIS_SET_CYCLE_TIME:public EMC_AXIS_CMD_MSG {
- public:
- EMC_AXIS_SET_CYCLE_TIME():EMC_AXIS_CMD_MSG
- (EMC_AXIS_SET_CYCLE_TIME_TYPE, sizeof(EMC_AXIS_SET_CYCLE_TIME)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- // PERIOD in seconds, between repeating the low level servo calculations.
- double cycleTime;
-};
-
-/**
- * Change the scale factor and offset for the position input.
- * This command sets the same value as the INPUT_SCALE parameter in the ".ini"
- * file.
- * These two values are the scale and offset factors for the axis input from
- * the raw feedback device, e.g., an incremental encoder. The second value
- * (offset) is subtracted from raw input (e.g., encoder counts), and
- * divided by the first value (scale factor), before being used as feedback.
- * The units on the scale value are in raw units (e.g., counts) per user units
- * (e.g., inch). The units on the offset value are in raw units(e.g., counts).
- *
- * Specifically, when reading inputs, the EMC first reads the raw sensor
- * values. The units on these values are the sensor units, typically
- * A/D counts, or encoder ticks. These units, and the location of their 0
- * value, will not in general correspond to the quasi-SI units used in the EMC. * Hence a scaling is done immediately upon sampling:
- *
- * input = (raw - offset) / scale
- *
- * The value for scale can be obtained analytically by doing a unit analysis,
- * i.e., units are [sensor units]/[desired input SI units]. For example, on
- * a 2000 counts per rev encoder, and 10 revs/inch gearing, and desired units
- * of mm, we have
- *
- * [scale units] = 2000 [counts/rev] * 10 [rev/inch] * 1/25.4 [inch/mm]
- * [scale units] = 787.4 counts/mm
- *
- * and, as a result,
- *
- * input [mm] = (encoder [counts] - offset [counts]) / 787.4 [counts/mm]
- *
- * Note that the units of the offset are in sensor units, e.g., counts, and
- * they are pre-subtracted from the sensor readings. The value for this offset
- * is obtained by finding the value of counts for which you want your user
- * units to read 0.0. This is normally accomplished automatically during a
- * homing procedure.
- *
- * Note that using this command to change the scale is not a good idea
- * once things have gotten underway, since the axis will
- * jump servo to the "new" position, the gains will no longer
- * be appropriate, etc.
- */
-class EMC_AXIS_SET_INPUT_SCALE:public EMC_AXIS_CMD_MSG {
- public:
- EMC_AXIS_SET_INPUT_SCALE():EMC_AXIS_CMD_MSG
- (EMC_AXIS_SET_INPUT_SCALE_TYPE, sizeof(EMC_AXIS_SET_INPUT_SCALE)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- double scale, offset;
-};
-
-class EMC_AXIS_SET_OUTPUT_SCALE:public EMC_AXIS_CMD_MSG {
- public:
- EMC_AXIS_SET_OUTPUT_SCALE():EMC_AXIS_CMD_MSG
- (EMC_AXIS_SET_OUTPUT_SCALE_TYPE,
- sizeof(EMC_AXIS_SET_OUTPUT_SCALE)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- double scale, offset;
-};
-
class EMC_AXIS_SET_MIN_POSITION_LIMIT:public EMC_AXIS_CMD_MSG {
public:
EMC_AXIS_SET_MIN_POSITION_LIMIT():EMC_AXIS_CMD_MSG
@@ -1291,12 +1113,6 @@
double setup_time;
double hold_time;
double homeOffset;
- unsigned char enablePolarity;
- unsigned char minLimitSwitchPolarity;
- unsigned char maxLimitSwitchPolarity;
- unsigned char homeSwitchPolarity;
- unsigned char homingPolarity;
- unsigned char faultPolarity;
// dynamic status
/*! \todo FIXME - is this the position cmd from control to PID, or
@@ -1658,31 +1474,6 @@
EmcPose home;
};
-class EMC_TRAJ_SET_PROBE_INDEX:public EMC_TRAJ_CMD_MSG {
- public:
- EMC_TRAJ_SET_PROBE_INDEX():EMC_TRAJ_CMD_MSG
- (EMC_TRAJ_SET_PROBE_INDEX_TYPE, sizeof(EMC_TRAJ_SET_PROBE_INDEX)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- int index;
-};
-
-class EMC_TRAJ_SET_PROBE_POLARITY:public EMC_TRAJ_CMD_MSG {
- public:
- EMC_TRAJ_SET_PROBE_POLARITY():EMC_TRAJ_CMD_MSG
- (EMC_TRAJ_SET_PROBE_POLARITY_TYPE,
- sizeof(EMC_TRAJ_SET_PROBE_POLARITY)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- int polarity;
-};
-
class EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG:public EMC_TRAJ_CMD_MSG {
public:
EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG():EMC_TRAJ_CMD_MSG
@@ -2825,18 +2616,6 @@
int index; // index, 0..max
};
-class EMC_SET_POLARITY:public RCS_CMD_MSG {
- public:
- EMC_SET_POLARITY():RCS_CMD_MSG(EMC_SET_POLARITY_TYPE,
- sizeof(EMC_SET_POLARITY)) {
- };
-
- // For internal NML/CMS use only.
- void update(CMS * cms);
-
- int value; // one of enum EMC_SET_POLARITY_XXX
- int polarity; // polarity, 0 or 1
-};
// EMC_IO is aggregate of all EMC IO-related status classes
Index: emc/nml_intf/emccfg.h
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/emccfg.h,v
retrieving revision 1.5
diff -u -r1.5 emccfg.h
--- emc/nml_intf/emccfg.h 23 May 2005 01:54:49 -0000 1.5
+++ emc/nml_intf/emccfg.h 28 Sep 2006 20:24:29 -0000
@@ -57,44 +57,11 @@
/* seconds after brake off for spindle on */
#define DEFAULT_SPINDLE_ON_WAIT 2.0
-/* bit locations for digital inputs */
-#define DEFAULT_ESTOP_SENSE_INDEX 0
-#define DEFAULT_LUBE_SENSE_INDEX 1
-
-/* sense of digital inputs */
-#define DEFAULT_ESTOP_SENSE_POLARITY 1
-#define DEFAULT_LUBE_SENSE_POLARITY 0
-
/* point locations for analog outputs */
#define DEFAULT_SPINDLE_ON_INDEX 0
#define DEFAULT_MIN_VOLTS_PER_RPM -0.01
#define DEFAULT_MAX_VOLTS_PER_RPM 0.01
-/* bit locations for digital outputs */
-
-#define DEFAULT_SPINDLE_FORWARD_INDEX 0
-#define DEFAULT_SPINDLE_REVERSE_INDEX 1
-#define DEFAULT_SPINDLE_BRAKE_INDEX 2
-#define DEFAULT_SPINDLE_DECREASE_INDEX 3
-#define DEFAULT_SPINDLE_INCREASE_INDEX 4
-#define DEFAULT_MIST_COOLANT_INDEX 5
-#define DEFAULT_FLOOD_COOLANT_INDEX 6
-#define DEFAULT_ESTOP_WRITE_INDEX 7
-#define DEFAULT_SPINDLE_ENABLE_INDEX 8
-#define DEFAULT_LUBE_WRITE_INDEX 9
-
-/* sense of digital outputs */
-#define DEFAULT_SPINDLE_FORWARD_POLARITY 1
-#define DEFAULT_SPINDLE_REVERSE_POLARITY 1
-#define DEFAULT_MIST_COOLANT_POLARITY 1
-#define DEFAULT_FLOOD_COOLANT_POLARITY 1
-#define DEFAULT_SPINDLE_DECREASE_POLARITY 1
-#define DEFAULT_SPINDLE_INCREASE_POLARITY 1
-#define DEFAULT_ESTOP_WRITE_POLARITY 1
-#define DEFAULT_SPINDLE_BRAKE_POLARITY 1
-#define DEFAULT_SPINDLE_ENABLE_POLARITY 1
-#define DEFAULT_LUBE_WRITE_POLARITY 1
-
#ifdef __cplusplus
} /* matches extern "C" at top */
#endif
Index: emc/nml_intf/emcglb.c
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/emcglb.c,v
retrieving revision 1.7
diff -u -r1.7 emcglb.c
--- emc/nml_intf/emcglb.c 12 Jun 2005 15:45:40 -0000 1.7
+++ emc/nml_intf/emcglb.c 28 Sep 2006 20:24:29 -0000
@@ -21,11 +21,11 @@
#include "emccfg.h" /* their initial values */
#include "emcpos.h" /* EmcPose */
-char EMC_INIFILE[EMC_INIFILE_LEN] = DEFAULT_EMC_INIFILE;
+char EMC_INIFILE[LINELEN] = DEFAULT_EMC_INIFILE;
-char EMC_NMLFILE[EMC_NMLFILE_LEN] = DEFAULT_EMC_NMLFILE;
+char EMC_NMLFILE[LINELEN] = DEFAULT_EMC_NMLFILE;
-char RS274NGC_STARTUP_CODE[RS274NGC_STARTUP_CODE_MAX] =
+char RS274NGC_STARTUP_CODE[LINELEN] =
DEFAULT_RS274NGC_STARTUP_CODE;
int EMC_DEBUG = 0; /* initially no debug messages */
@@ -34,7 +34,7 @@
double EMC_IO_CYCLE_TIME = DEFAULT_EMC_IO_CYCLE_TIME;
-char TOOL_TABLE_FILE[TOOL_TABLE_FILE_LEN] = DEFAULT_TOOL_TABLE_FILE;
+char TOOL_TABLE_FILE[LINELEN] = DEFAULT_TOOL_TABLE_FILE;
double TRAJ_DEFAULT_VELOCITY = DEFAULT_TRAJ_DEFAULT_VELOCITY;
double TRAJ_MAX_VELOCITY = DEFAULT_TRAJ_MAX_VELOCITY;
@@ -47,40 +47,10 @@
double SPINDLE_OFF_WAIT = DEFAULT_SPINDLE_OFF_WAIT;
double SPINDLE_ON_WAIT = DEFAULT_SPINDLE_ON_WAIT;
-int ESTOP_SENSE_INDEX = DEFAULT_ESTOP_SENSE_INDEX;
-int LUBE_SENSE_INDEX = DEFAULT_LUBE_SENSE_INDEX;
-
-int ESTOP_SENSE_POLARITY = DEFAULT_ESTOP_SENSE_POLARITY;
-int LUBE_SENSE_POLARITY = DEFAULT_LUBE_SENSE_POLARITY;
-
-int LUBE_WRITE_INDEX = DEFAULT_LUBE_WRITE_INDEX;
-int LUBE_WRITE_POLARITY = DEFAULT_LUBE_WRITE_POLARITY;
-
int SPINDLE_ON_INDEX = DEFAULT_SPINDLE_ON_INDEX;
double MIN_VOLTS_PER_RPM = DEFAULT_MIN_VOLTS_PER_RPM;
double MAX_VOLTS_PER_RPM = DEFAULT_MAX_VOLTS_PER_RPM;
-int SPINDLE_FORWARD_INDEX = DEFAULT_SPINDLE_FORWARD_INDEX;
-int SPINDLE_REVERSE_INDEX = DEFAULT_SPINDLE_REVERSE_INDEX;
-int SPINDLE_BRAKE_INDEX = DEFAULT_SPINDLE_BRAKE_INDEX;
-int SPINDLE_DECREASE_INDEX = DEFAULT_SPINDLE_DECREASE_INDEX;
-int SPINDLE_INCREASE_INDEX = DEFAULT_SPINDLE_INCREASE_INDEX;
-int SPINDLE_ENABLE_INDEX = DEFAULT_SPINDLE_ENABLE_INDEX;
-int MIST_COOLANT_INDEX = DEFAULT_MIST_COOLANT_INDEX;
-int FLOOD_COOLANT_INDEX = DEFAULT_FLOOD_COOLANT_INDEX;
-int ESTOP_WRITE_INDEX = DEFAULT_ESTOP_WRITE_INDEX;
-
-int SPINDLE_FORWARD_POLARITY = DEFAULT_SPINDLE_FORWARD_POLARITY;
-int SPINDLE_REVERSE_POLARITY = DEFAULT_SPINDLE_REVERSE_POLARITY;
-int MIST_COOLANT_POLARITY = DEFAULT_MIST_COOLANT_POLARITY;
-int FLOOD_COOLANT_POLARITY = DEFAULT_FLOOD_COOLANT_POLARITY;
-int SPINDLE_DECREASE_POLARITY = DEFAULT_SPINDLE_DECREASE_POLARITY;
-int SPINDLE_INCREASE_POLARITY = DEFAULT_SPINDLE_INCREASE_POLARITY;
-int ESTOP_WRITE_POLARITY = DEFAULT_ESTOP_WRITE_POLARITY;
-int SPINDLE_BRAKE_POLARITY = DEFAULT_SPINDLE_BRAKE_POLARITY;
-int SPINDLE_ENABLE_POLARITY = DEFAULT_SPINDLE_ENABLE_POLARITY;
-int EMCLOG_INCLUDE_HEADER = DEFAULT_EMCLOG_INCLUDE_HEADER;
-
EmcPose TOOL_CHANGE_POSITION; /* no defaults */
unsigned char HAVE_TOOL_CHANGE_POSITION = 0; /* default is 'not there' */
EmcPose TOOL_HOLDER_CLEAR; /* no defaults */
Index: emc/nml_intf/emcglb.h
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/emcglb.h,v
retrieving revision 1.8
diff -u -r1.8 emcglb.h
--- emc/nml_intf/emcglb.h 25 Sep 2006 23:06:45 -0000 1.8
+++ emc/nml_intf/emcglb.h 28 Sep 2006 20:24:29 -0000
@@ -22,20 +22,18 @@
extern "C" {
#endif
+#include "config.h"
#include "emcpos.h" /* EmcPose */
#include "math.h" /* M_PI */
#define EMC_AXIS_MAX 8
-#define EMC_INIFILE_LEN 256
- extern char EMC_INIFILE[EMC_INIFILE_LEN];
+ extern char EMC_INIFILE[LINELEN];
-#define EMC_NMLFILE_LEN 256
- extern char EMC_NMLFILE[EMC_NMLFILE_LEN];
+ extern char EMC_NMLFILE[LINELEN];
#define DEFAULT_RS274NGC_STARTUP_CODE ""
-#define RS274NGC_STARTUP_CODE_MAX 256
- extern char RS274NGC_STARTUP_CODE[RS274NGC_STARTUP_CODE_MAX];
+ extern char RS274NGC_STARTUP_CODE[LINELEN];
struct nameval {
@@ -94,8 +92,7 @@
extern double EMC_IO_CYCLE_TIME;
-#define TOOL_TABLE_FILE_LEN 256
- extern char TOOL_TABLE_FILE[TOOL_TABLE_FILE_LEN];
+ extern char TOOL_TABLE_FILE[LINELEN];
extern double TRAJ_DEFAULT_VELOCITY;
extern double TRAJ_MAX_VELOCITY;
@@ -106,38 +103,10 @@
extern double SPINDLE_OFF_WAIT;
extern double SPINDLE_ON_WAIT;
- extern int ESTOP_SENSE_INDEX;
- extern int LUBE_SENSE_INDEX;
-
- extern int ESTOP_SENSE_POLARITY;
- extern int LUBE_SENSE_POLARITY;
-
extern int SPINDLE_ON_INDEX;
extern double MIN_VOLTS_PER_RPM;
extern double MAX_VOLTS_PER_RPM;
- extern int SPINDLE_FORWARD_INDEX;
- extern int SPINDLE_REVERSE_INDEX;
- extern int SPINDLE_BRAKE_INDEX;
- extern int SPINDLE_DECREASE_INDEX;
- extern int SPINDLE_INCREASE_INDEX;
- extern int SPINDLE_ENABLE_INDEX;
- extern int MIST_COOLANT_INDEX;
- extern int FLOOD_COOLANT_INDEX;
- extern int ESTOP_WRITE_INDEX;
- extern int LUBE_WRITE_INDEX;
-
- extern int SPINDLE_FORWARD_POLARITY;
- extern int SPINDLE_REVERSE_POLARITY;
- extern int MIST_COOLANT_POLARITY;
- extern int FLOOD_COOLANT_POLARITY;
- extern int SPINDLE_DECREASE_POLARITY;
- extern int SPINDLE_INCREASE_POLARITY;
- extern int ESTOP_WRITE_POLARITY;
- extern int SPINDLE_BRAKE_POLARITY;
- extern int SPINDLE_ENABLE_POLARITY;
- extern int LUBE_WRITE_POLARITY;
-
extern EmcPose TOOL_CHANGE_POSITION;
extern unsigned char HAVE_TOOL_CHANGE_POSITION;
extern EmcPose TOOL_HOLDER_CLEAR;
Index: emc/nml_intf/emcops.cc
===================================================================
RCS file: /cvs/emc2/src/emc/nml_intf/emcops.cc,v
retrieving revision 1.8
diff -u -r1.8 emcops.cc
--- emc/nml_intf/emcops.cc 25 Jun 2006 19:23:50 -0000 1.8
+++ emc/nml_intf/emcops.cc 28 Sep 2006 20:24:29 -0000
@@ -47,12 +47,12 @@
homingVel = 1.0;
setup_time = 1;
hold_time = 2;
- enablePolarity = 1;
+/* enablePolarity = 1;
minLimitSwitchPolarity = 1;
maxLimitSwitchPolarity = 1;
homeSwitchPolarity = 1;
homingPolarity = 1;
- faultPolarity = 1;
+ faultPolarity = 1;*/
ferrorCurrent = 0.0;
ferrorHighMark = 0.0;
output = 0.0;
Index: emc/task/emctaskmain.cc
===================================================================
RCS file: /cvs/emc2/src/emc/task/emctaskmain.cc,v
retrieving revision 1.69
diff -u -r1.69 emctaskmain.cc
--- emc/task/emctaskmain.cc 14 Sep 2006 20:47:38 -0000 1.69
+++ emc/task/emctaskmain.cc 28 Sep 2006 20:24:33 -0000
@@ -305,12 +305,8 @@
static EMC_AXIS_ABORT *axis_abort_msg;
static EMC_AXIS_INCR_JOG *incr_jog_msg;
static EMC_AXIS_ABS_JOG *abs_jog_msg;
-//static EMC_AXIS_SET_CYCLE_TIME *set_cycle_time_msg;
-//static EMC_AXIS_SET_GAINS *set_gains_msg;
static EMC_AXIS_SET_BACKLASH *set_backlash_msg;
static EMC_AXIS_SET_HOMING_PARAMS *set_homing_params_msg;
-//static EMC_AXIS_SET_INPUT_SCALE *set_input_scale_msg;
-//static EMC_AXIS_SET_OUTPUT_SCALE *set_output_scale_msg;
static EMC_AXIS_SET_FERROR *set_ferror_msg;
static EMC_AXIS_SET_MIN_FERROR *set_min_ferror_msg;
static EMC_AXIS_SET_MAX_POSITION_LIMIT *set_max_limit_msg;
@@ -522,13 +518,10 @@
break;
// immediate commands
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
case EMC_AXIS_DISABLE_TYPE:
case EMC_AXIS_ENABLE_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_ABORT_TYPE:
@@ -547,8 +540,6 @@
case EMC_TASK_PLAN_OPEN_TYPE:
case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
case EMC_TASK_ABORT_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_TRAJ_SET_TELEOP_ENABLE_TYPE:
@@ -620,12 +611,8 @@
case EMC_AXIS_DISABLE_TYPE:
case EMC_AXIS_ENABLE_TYPE:
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
- case EMC_AXIS_SET_INPUT_SCALE_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE:
@@ -666,8 +653,6 @@
case EMC_TASK_PLAN_INIT_TYPE:
case EMC_TASK_PLAN_SYNCH_TYPE:
case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_TRAJ_SET_TELEOP_ENABLE_TYPE:
@@ -722,11 +707,8 @@
// immediate commands
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_SET_OUTPUT_TYPE:
@@ -760,8 +742,6 @@
case EMC_TASK_PLAN_PAUSE_TYPE:
case EMC_TASK_PLAN_RESUME_TYPE:
case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_SET_DEBUG_TYPE:
@@ -817,11 +797,8 @@
// immediate commands
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_SET_OUTPUT_TYPE:
@@ -841,8 +818,6 @@
case EMC_TASK_SET_MODE_TYPE:
case EMC_TASK_SET_STATE_TYPE:
case EMC_TASK_ABORT_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_SET_DEBUG_TYPE:
@@ -1007,11 +982,8 @@
// immediate commands
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_SET_OUTPUT_TYPE:
@@ -1042,8 +1014,6 @@
case EMC_TASK_PLAN_PAUSE_TYPE:
case EMC_TASK_PLAN_RESUME_TYPE:
case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_SET_DEBUG_TYPE:
@@ -1093,11 +1063,8 @@
// immediate commands
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_SET_OUTPUT_TYPE:
@@ -1118,8 +1085,6 @@
case EMC_TASK_SET_MODE_TYPE:
case EMC_TASK_SET_STATE_TYPE:
case EMC_TASK_ABORT_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_SET_DEBUG_TYPE:
@@ -1191,11 +1156,8 @@
// immediate commands
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- case EMC_AXIS_SET_GAINS_TYPE:
case EMC_AXIS_SET_BACKLASH_TYPE:
case EMC_AXIS_SET_HOMING_PARAMS_TYPE:
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
case EMC_AXIS_SET_FERROR_TYPE:
case EMC_AXIS_SET_MIN_FERROR_TYPE:
case EMC_AXIS_SET_OUTPUT_TYPE:
@@ -1225,8 +1187,6 @@
case EMC_TASK_PLAN_SET_OPTIONAL_STOP_TYPE:
case EMC_TASK_PLAN_RESUME_TYPE:
case EMC_TASK_ABORT_TYPE:
- case EMC_TRAJ_SET_PROBE_INDEX_TYPE:
- case EMC_TRAJ_SET_PROBE_POLARITY_TYPE:
case EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG_TYPE:
case EMC_TRAJ_PROBE_TYPE:
case EMC_SET_DEBUG_TYPE:
@@ -1480,22 +1440,7 @@
retval = emcAxisAbsJog(abs_jog_msg->axis,
abs_jog_msg->pos, abs_jog_msg->vel);
break;
-/*! \todo Another #if 0 */
-#if 0
- case EMC_AXIS_SET_GAINS_TYPE:
- set_gains_msg = (EMC_AXIS_SET_GAINS *) cmd;
- retval = emcAxisSetGains(set_gains_msg->axis,
- set_gains_msg->p,
- set_gains_msg->i,
- set_gains_msg->d,
- set_gains_msg->ff0,
- set_gains_msg->ff1,
- set_gains_msg->ff2,
- set_gains_msg->bias,
- set_gains_msg->maxError,
- set_gains_msg->deadband);
- break;
-#endif
+
case EMC_AXIS_SET_BACKLASH_TYPE:
set_backlash_msg = (EMC_AXIS_SET_BACKLASH *) cmd;
retval =
@@ -1516,28 +1461,6 @@
set_homing_params_msg->home_sequence);
break;
-/*! \todo Another #if 0 */
-#if 0
- case EMC_AXIS_SET_CYCLE_TIME_TYPE:
- set_cycle_time_msg = (EMC_AXIS_SET_CYCLE_TIME *) cmd;
- retval = emcAxisSetCycleTime(set_cycle_time_msg->axis,
- set_cycle_time_msg->cycleTime);
- break;
-
- case EMC_AXIS_SET_INPUT_SCALE_TYPE:
- set_input_scale_msg = (EMC_AXIS_SET_INPUT_SCALE *) cmd;
- retval = emcAxisSetInputScale(set_input_scale_msg->axis,
- set_input_scale_msg->scale,
- set_input_scale_msg->offset);
- break;
-
- case EMC_AXIS_SET_OUTPUT_SCALE_TYPE:
- set_output_scale_msg = (EMC_AXIS_SET_OUTPUT_SCALE *) cmd;
- retval = emcAxisSetOutputScale(set_output_scale_msg->axis,
- set_output_scale_msg->scale,
- set_output_scale_msg->offset);
- break;
-#endif
case EMC_AXIS_SET_FERROR_TYPE:
set_ferror_msg = (EMC_AXIS_SET_FERROR *) cmd;
retval = emcAxisSetFerror(set_ferror_msg->axis,
@@ -1571,14 +1494,7 @@
axis_lim_msg = (EMC_AXIS_OVERRIDE_LIMITS *) cmd;
retval = emcAxisOverrideLimits(axis_lim_msg->axis);
break;
-/*! \todo Another #if 0 */
-#if 0
- case EMC_AXIS_SET_OUTPUT_TYPE:
- axis_output_msg = (EMC_AXIS_SET_OUTPUT *) cmd;
- retval = emcAxisSetOutput(axis_output_msg->axis,
- axis_output_msg->output);
- break;
-#endif
+
case EMC_AXIS_LOAD_COMP_TYPE:
axis_load_comp_msg = (EMC_AXIS_LOAD_COMP *) cmd;
retval = emcAxisLoadComp(axis_load_comp_msg->axis,
Index: emc/task/taskintf.cc
===================================================================
RCS file: /cvs/emc2/src/emc/task/taskintf.cc,v
retrieving revision 1.50
diff -u -r1.50 taskintf.cc
--- emc/task/taskintf.cc 27 Sep 2006 19:19:04 -0000 1.50
+++ emc/task/taskintf.cc 28 Sep 2006 20:24:35 -0000
@@ -99,48 +99,6 @@
return 0;
}
-/*! \todo Another #if 0 */
-#if 0
-int emcAxisSetGains(int axis, double p, double i, double d,
- double ff0, double ff1, double ff2,
- double bias, double maxError, double deadband)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- emcmotCommand.command = EMCMOT_SET_PID;
- emcmotCommand.axis = axis;
-
- emcmotCommand.pid.p = p;
- emcmotCommand.pid.i = i;
- emcmotCommand.pid.d = d;
- emcmotCommand.pid.ff0 = ff0;
- emcmotCommand.pid.ff1 = ff1;
- emcmotCommand.pid.ff2 = ff2;
- emcmotCommand.pid.bias = bias;
- emcmotCommand.pid.maxError = maxError;
- emcmotCommand.pid.deadband = deadband;
-
-#ifdef ISNAN_TRAP
- if (isnan(emcmotCommand.pid.p) ||
- isnan(emcmotCommand.pid.i) ||
- isnan(emcmotCommand.pid.d) ||
- isnan(emcmotCommand.pid.ff0) ||
- isnan(emcmotCommand.pid.ff1) ||
- isnan(emcmotCommand.pid.ff2) ||
- isnan(emcmotCommand.pid.bias) ||
- isnan(emcmotCommand.pid.maxError) ||
- isnan(emcmotCommand.pid.deadband)) {
- printf("isnan error in emcAxisSetGains\n");
- return -1;
- }
-#endif
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-#endif
-
int emcAxisSetBacklash(int axis, double backlash)
{
if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
@@ -162,68 +120,6 @@
return usrmotWriteEmcmotCommand(&emcmotCommand);
}
-/*! \todo Another #if 0 */
-#if 0
-int emcAxisSetCycleTime(int axis, double cycleTime)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- if (cycleTime <= 0.0) {
- return -1;
- }
-
- emcmotCommand.command = EMCMOT_SET_SERVO_CYCLE_TIME;
- emcmotCommand.cycleTime = cycleTime;
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-
-int emcAxisSetInputScale(int axis, double scale, double offset)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- emcmotCommand.command = EMCMOT_SET_INPUT_SCALE;
- emcmotCommand.axis = axis;
- emcmotCommand.scale = scale;
- emcmotCommand.offset = offset;
-
-#ifdef ISNAN_TRAP
- if (isnan(emcmotCommand.scale) || isnan(emcmotCommand.offset)) {
- printf("isnan eror in emcAxisSetInputScale\n");
- return -1;
- }
-#endif
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-
-int emcAxisSetOutputScale(int axis, double scale, double offset)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- emcmotCommand.command = EMCMOT_SET_OUTPUT_SCALE;
- emcmotCommand.axis = axis;
- emcmotCommand.scale = scale;
- emcmotCommand.offset = offset;
-
-#ifdef ISNAN_TRAP
- if (isnan(emcmotCommand.scale) || isnan(emcmotCommand.offset)) {
- printf("isnan eror in emcAxisSetOutputScale\n");
- return -1;
- }
-#endif
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-
-#endif /* #if 0 */
-
// saved values of limits, since emcmot expects them to be set in
// pairs and we set them individually.
static double saveMinLimit[EMCMOT_MAX_AXIS];
@@ -284,59 +180,6 @@
return usrmotWriteEmcmotCommand(&emcmotCommand);
}
-/*! \todo Another #if 0 */
-#if 0
-
-// saved values of limits, since emcmot expects them to be set in
-// pairs and we set them individually.
-static double saveMinOutput[EMCMOT_MAX_AXIS];
-static double saveMaxOutput[EMCMOT_MAX_AXIS];
-
-int emcAxisSetMinOutputLimit(int axis, double limit)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- emcmotCommand.command = EMCMOT_SET_OUTPUT_LIMITS;
- emcmotCommand.axis = axis;
- emcmotCommand.maxLimit = saveMaxOutput[axis];
- emcmotCommand.minLimit = limit;
- saveMinOutput[axis] = limit;
-
-#ifdef ISNAN_TRAP
- if (isnan(emcmotCommand.maxLimit) || isnan(emcmotCommand.minLimit)) {
- printf("isnan error in emcAxisSetMinOutputLimit\n");
- return -1;
- }
-#endif
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-
-int emcAxisSetMaxOutputLimit(int axis, double limit)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- emcmotCommand.command = EMCMOT_SET_OUTPUT_LIMITS;
- emcmotCommand.axis = axis;
- emcmotCommand.minLimit = saveMinOutput[axis];
- emcmotCommand.maxLimit = limit;
- saveMaxOutput[axis] = limit;
-
-#ifdef ISNAN_TRAP
- if (isnan(emcmotCommand.maxLimit) || isnan(emcmotCommand.minLimit)) {
- printf("isnan error in emcAxisSetMaxOutputLimit\n");
- return -1;
- }
-#endif
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-#endif
-
int emcAxisSetFerror(int axis, double ferror)
{
if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
@@ -559,22 +402,6 @@
return usrmotWriteEmcmotCommand(&emcmotCommand);
}
-/*! \todo Another #if 0 */
-#if 0
-int emcAxisSetOutput(int axis, double output)
-{
- if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
- return 0;
- }
-
- emcmotCommand.command = EMCMOT_DAC_OUT;
- emcmotCommand.axis = axis;
- emcmotCommand.dacOut = output;
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-#endif
-
int emcAxisEnable(int axis)
{
if (axis < 0 || axis >= EMCMOT_MAX_AXIS) {
@@ -687,8 +514,6 @@
these globals are set in emcMotionUpdate(), then referenced in
emcAxisUpdate(), emcTrajUpdate() to save calls to usrmotReadEmcmotStatus
*/
-/*! \todo FIXME - next line commented out and moved to top of file for debugging */
-//static emcmot_status_t emcmotStatus;*/
static emcmot_debug_t emcmotDebug;
static char errorString[EMCMOT_ERROR_LEN];
static int new_config = 0;
@@ -720,13 +545,6 @@
stat[axis].axisType = localEmcAxisAxisType[axis];
stat[axis].units = localEmcAxisUnits[axis];
-/*! \todo Another #if 0 */
-#if 0
- stat[axis].inputScale = emcmotStatus.inputScale[axis];
- stat[axis].inputOffset = emcmotStatus.inputOffset[axis];
- stat[axis].outputScale = emcmotStatus.outputScale[axis];
- stat[axis].outputOffset = emcmotStatus.outputOffset[axis];
-#endif
if (new_config) {
stat[axis].backlash = joint->backlash;
stat[axis].minPositionLimit = joint->min_pos_limit;
@@ -823,21 +641,6 @@
return 0;
}
-/*! \todo Another #if 0 */
-#if 0
-int emcTrajSetCycleTime(double cycleTime)
-{
- if (cycleTime <= 0.0) {
- return -1;
- }
-
- emcmotCommand.command = EMCMOT_SET_TRAJ_CYCLE_TIME;
- emcmotCommand.cycleTime = cycleTime;
-
- return usrmotWriteEmcmotCommand(&emcmotCommand);
-}
-#endif
-
int emcTrajSetMode(int mode)
{
switch (mode) {
@@ -1297,11 +1100,6 @@
if (new_config) {
stat->cycleTime = emcmotConfig.trajCycleTime;
-/*! \todo Another #if 0 */
-#if 0
- stat->probe_index = emcmotConfig.probeIndex;
- stat->probe_polarity = emcmotConfig.probePolarity;
-#endif
stat->kinematics_type = emcmotConfig.kinematics_type;
stat->maxVelocity = emcmotConfig.limitVel;
}
Index: emc/usr_intf/emcrsh.cc
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/emcrsh.cc,v
retrieving revision 1.4
diff -u -r1.4 emcrsh.cc
--- emc/usr_intf/emcrsh.cc 2 Sep 2006 17:00:15 -0000 1.4
+++ emc/usr_intf/emcrsh.cc 28 Sep 2006 20:24:40 -0000
@@ -365,13 +365,6 @@
units to be displayed. If it's "auto", the units to be displayed match
the program units.
- probe_index
- Which wire is the probe on or which bit of digital IO to use? (No args
- gets it, one arg sets it.)
-
- probe_polarity
- Value to look for for probe tripped? (0 args gets it, one arg sets it.)
-
probe_clear
Clear the probe tripped flag.
@@ -451,7 +444,7 @@
scPause, scResume, scStep, scAbort, scProgram, scProgramLine, scProgramStatus, scProgramCodes,
scJointType, scJointUnits, scProgramUnits, scProgramLinearUnits, scProgramAngularUnits,
scUserLinearUnits, scUserAngularUnits, scDisplayLinearUnits, scDisplayAngularUnits,
- scLinearUnitConversion, scAngularUnitConversion, scProbeIndex, scProbePolarity, scProbeClear,
+ scLinearUnitConversion, scAngularUnitConversion, scProbeClear,
scProbeTripped, scProbeValue, scProbe, scTeleopEnable, scKinematicsType, scOverrideLimits,
scUnknown
} setCommandType;
@@ -494,8 +487,8 @@
"RESUME", "STEP", "ABORT", "PROGRAM", "PROGRAM_LINE", "PROGRAM_STATUS", "PROGRAM_CODES",
"JOINT_TYPE", "JOINT_UNITS", "PROGRAM_UNITS", "PROGRAM_LINEAR_UNITS", "PROGRAM_ANGULAR_UNITS",
"USER_LINEAR_UNITS", "USER_ANGULAR_UNITS", "DISPLAY_LINEAR_UNITS", "DISPLAY_ANGULAR_UNITS",
- "LINEAR_UNIT_CONVERSION", "ANGULAR_UNIT_CONVERSION", "PROBE_INDEX", "PROBE_POLARITY", "PROBE_CLEAR",
- "PROBE_TRIPPED", "PROBE_VALUE", "PROBE", "TELEOP_ENABLE", "KINEMATICS_TYPE", "OVERRIDE_LIMITS", ""};
+ "LINEAR_UNIT_CONVERSION", "ANGULAR_UNIT_CONVERSION", "PROBE_CLEAR", "PROBE_TRIPPED",
+ "PROBE_VALUE", "PROBE", "TELEOP_ENABLE", "KINEMATICS_TYPE", "OVERRIDE_LIMITS", ""};
char *commands[] = {"HELLO", "SET", "GET", "QUIT", "SHUTDOWN", "HELP", ""};
/* static char *skipWhite(char *s)
@@ -1691,38 +1684,6 @@
return 0;
}
-static int sendSetProbeIndex(int index)
-{
- EMC_TRAJ_SET_PROBE_INDEX emc_set_probe_index_msg;
-
- emc_set_probe_index_msg.index = index;
- emc_set_probe_index_msg.serial_number = ++emcCommandSerialNumber;
- emcCommandBuffer->write(emc_set_probe_index_msg);
- if (emcWaitType == EMC_WAIT_RECEIVED) {
- return emcCommandWaitReceived(emcCommandSerialNumber);
- } else if (emcWaitType == EMC_WAIT_DONE) {
- return emcCommandWaitDone(emcCommandSerialNumber);
- }
-
- return 0;
-}
-
-static int sendSetProbePolarity(int polarity)
-{
- EMC_TRAJ_SET_PROBE_POLARITY emc_set_probe_polarity_msg;
-
- emc_set_probe_polarity_msg.serial_number = ++emcCommandSerialNumber;
- emc_set_probe_polarity_msg.polarity = polarity;
- emcCommandBuffer->write(emc_set_probe_polarity_msg);
- if (emcWaitType == EMC_WAIT_RECEIVED) {
- return emcCommandWaitReceived(emcCommandSerialNumber);
- } else if (emcWaitType == EMC_WAIT_DONE) {
- return emcCommandWaitDone(emcCommandSerialNumber);
- }
-
- return 0;
-}
-
static int sendClearProbeTrippedFlag()
{
EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG emc_clear_probe_tripped_flag_msg;
@@ -2421,26 +2382,6 @@
return rtNoError;
}
-static cmdResponseType setProbeIndex(char *s, connectionRecType *context)
-{
- int probeIndex;
-
- if (s == NULL) return rtStandardError;
- if (sscanf(s, "%d", &probeIndex) <= 0) return rtStandardError;
- sendSetProbeIndex(probeIndex);
- return rtNoError;
-}
-
-static cmdResponseType setProbePolarity(char *s, connectionRecType *context)
-{
- int polarity;
-
- if (s == NULL) return rtStandardError;
- if (sscanf(s, "%d", &polarity) <= 0) return rtStandardError;
- sendSetProbePolarity(polarity);
- return rtNoError;
-}
-
static cmdResponseType setProbe(char *s, connectionRecType *context)
{
float x, y, z;
@@ -2557,8 +2498,6 @@
case scDisplayAngularUnits: ret = rtStandardError; break;
case scLinearUnitConversion: ret = setLinearUnitConversion(strtok(NULL, delims), context); break;
case scAngularUnitConversion: ret = setAngularUnitConversion(strtok(NULL, delims), context); break;
- case scProbeIndex: ret = setProbeIndex(strtok(NULL, delims), context); break;
- case scProbePolarity: ret = setProbePolarity(strtok(NULL, delims), context); break;
case scProbeClear: ret = setProbeClear(pch, context); break;
case scProbeTripped: ret = rtStandardError; break;
case scProbeValue: ret = rtStandardError; break;
@@ -3469,22 +3408,6 @@
return rtNoError;
}
-static cmdResponseType getProbeIndex(char *s, connectionRecType *context)
-{
- char *pProbeIndex = "PROBE_INDEX %d";
-
- sprintf(context->outBuf, pProbeIndex, emcStatus->motion.traj.probe_index);
- return rtNoError;
-}
-
-static cmdResponseType getProbePolarity(char *s, connectionRecType *context)
-{
- char *pProbePolarity = "PROBE_POLARITY %d";
-
- sprintf(context->outBuf, pProbePolarity, emcStatus->motion.traj.probe_polarity);
- return rtNoError;
-}
-
static cmdResponseType getProbeValue(char *s, connectionRecType *context)
{
char *pProbeValue = "PROBE_VALUE %d";
@@ -3623,8 +3546,6 @@
case scDisplayAngularUnits: ret = getDisplayAngularUnits(pch, context); break;
case scLinearUnitConversion: ret = getLinearUnitConversion(pch, context); break;
case scAngularUnitConversion: ret = getAngularUnitConversion(pch, context); break;
- case scProbeIndex: ret = getProbeIndex(pch, context); break;
- case scProbePolarity: ret = getProbePolarity(pch, context); break;
case scProbeClear: break;
case scProbeTripped: ret = getProbeTripped(pch, context); break;
case scProbeValue: ret = getProbeValue(pch, context); break;
@@ -3740,8 +3661,6 @@
strcat(context->outBuf, " Override_limits\n\r");
strcat(context->outBuf, " Plat\n\r");
strcat(context->outBuf, " Pos_offset\n\r");
- strcat(context->outBuf, " Probe_index\n\r");
- strcat(context->outBuf, " Probe_polarity\n\r");
strcat(context->outBuf, " Probe_tripped\n\r");
strcat(context->outBuf, " Probe_value\n\r");
strcat(context->outBuf, " Program\n\r");
@@ -3803,8 +3722,6 @@
strcat(context->outBuf, " Pause\n\r");
strcat(context->outBuf, " Probe\n\r");
strcat(context->outBuf, " Probe_clear\n\r");
- strcat(context->outBuf, " Probe_index <Index No>\n\r");
- strcat(context->outBuf, " Probe_polarity <0 | 1>\n\r");
strcat(context->outBuf, " Resume\n\r");
strcat(context->outBuf, " Run <Line No>\n\r");
strcat(context->outBuf, " SetWait <Time>\n\r");
Index: emc/usr_intf/emcsh.cc
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/emcsh.cc,v
retrieving revision 1.18
diff -u -r1.18 emcsh.cc
--- emc/usr_intf/emcsh.cc 26 Sep 2006 00:45:50 -0000 1.18
+++ emc/usr_intf/emcsh.cc 28 Sep 2006 20:24:47 -0000
@@ -304,13 +304,6 @@
units to be displayed. If it's "auto", the units to be displayed match
the program units.
- emc_probe_index
- Which wire is the probe on or which bit of digital IO to use? (No args
- gets it, one arg sets it.)
-
- emc_probe_polarity
- Value to look for for probe tripped? (0 args gets it, one arg sets it.)
-
emc_probe_clear
Clear the probe tripped flag.
@@ -1545,33 +1538,6 @@
return 0;
}
-static int sendAxisSetGains(int axis, double p, double i, double d,
- double ff0, double ff1, double ff2,
- double bias, double maxError, double deadband)
-{
- EMC_AXIS_SET_GAINS emc_axis_set_gains_msg;
-
- emc_axis_set_gains_msg.axis = axis;
- emc_axis_set_gains_msg.p = p;
- emc_axis_set_gains_msg.i = i;
- emc_axis_set_gains_msg.d = d;
- emc_axis_set_gains_msg.ff0 = ff0;
- emc_axis_set_gains_msg.ff1 = ff1;
- emc_axis_set_gains_msg.ff2 = ff2;
- emc_axis_set_gains_msg.bias = bias;
- emc_axis_set_gains_msg.maxError = maxError;
- emc_axis_set_gains_msg.deadband = deadband;
- emc_axis_set_gains_msg.serial_number = ++emcCommandSerialNumber;
- emcCommandBuffer->write(emc_axis_set_gains_msg);
- if (emcWaitType == EMC_WAIT_RECEIVED) {
- return emcCommandWaitReceived(emcCommandSerialNumber);
- } else if (emcWaitType == EMC_WAIT_DONE) {
- return emcCommandWaitDone(emcCommandSerialNumber);
- }
-
- return 0;
-}
-
static int sendAxisSetBacklash(int axis, double backlash)
{
EMC_AXIS_SET_BACKLASH emc_axis_set_backlash_msg;
@@ -1677,38 +1643,6 @@
return 0;
}
-static int sendSetProbeIndex(int index)
-{
- EMC_TRAJ_SET_PROBE_INDEX emc_set_probe_index_msg;
-
- emc_set_probe_index_msg.index = index;
- emc_set_probe_index_msg.serial_number = ++emcCommandSerialNumber;
- emcCommandBuffer->write(emc_set_probe_index_msg);
- if (emcWaitType == EMC_WAIT_RECEIVED) {
- return emcCommandWaitReceived(emcCommandSerialNumber);
- } else if (emcWaitType == EMC_WAIT_DONE) {
- return emcCommandWaitDone(emcCommandSerialNumber);
- }
-
- return 0;
-}
-
-static int sendSetProbePolarity(int polarity)
-{
- EMC_TRAJ_SET_PROBE_POLARITY emc_set_probe_polarity_msg;
-
- emc_set_probe_polarity_msg.serial_number = ++emcCommandSerialNumber;
- emc_set_probe_polarity_msg.polarity = polarity;
- emcCommandBuffer->write(emc_set_probe_polarity_msg);
- if (emcWaitType == EMC_WAIT_RECEIVED) {
- return emcCommandWaitReceived(emcCommandSerialNumber);
- } else if (emcWaitType == EMC_WAIT_DONE) {
- return emcCommandWaitDone(emcCommandSerialNumber);
- }
-
- return 0;
-}
-
static int sendClearProbeTrippedFlag()
{
EMC_TRAJ_CLEAR_PROBE_TRIPPED_FLAG emc_clear_probe_tripped_flag_msg;
@@ -4258,217 +4192,6 @@
return TCL_OK;
}
-static int emc_axis_gains(ClientData clientdata,
- Tcl_Interp * interp, int objc,
- Tcl_Obj * CONST objv[])
-{
- Tcl_Obj *valobj;
- int axis;
- const char *varstr;
- double val;
- double p, i, d, ff0, ff1, ff2, bias, maxError, deadband;
-
- // syntax is emc_axis_gains <axis> <var> {<val>}
- // or emc_axis_gains <axis> all <p> <i> ... <deadband>
- // without <val> only, returns value of <var> for <axis>
- // otherwise sets <var> to <value> for <axis>
- // <axis> is 0,1,...
- // <var> is p i d ff0 ff1 ff2 bias maxerror deadband
- // <val> is floating point number
-
- if (objc < 3) {
- Tcl_SetResult(interp, "emc_axis_gains: need <axis> <var> {<val>}",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
-
- if (emcUpdateType == EMC_UPDATE_AUTO) {
- updateStatus();
- }
-
- if (0 != Tcl_GetIntFromObj(0, objv[1], &axis) ||
- axis < 0 || axis >= EMC_AXIS_MAX) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need axis as integer, 0..EMC_AXIS_MAX-1",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
-
- varstr = Tcl_GetStringFromObj(objv[2], 0);
-
- if (objc == 3) {
- if (!strcmp(varstr, "p")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].p);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "i")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].i);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "d")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].d);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "ff0")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].ff0);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "ff1")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].ff1);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "ff2")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].ff2);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "bias")) {
- valobj = Tcl_NewDoubleObj(emcStatus->motion.axis[axis].bias);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "maxerror")) {
- valobj =
- Tcl_NewDoubleObj(emcStatus->motion.axis[axis].maxError);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else if (!strcmp(varstr, "deadband")) {
- valobj =
- Tcl_NewDoubleObj(emcStatus->motion.axis[axis].deadband);
- Tcl_SetObjResult(interp, valobj);
- return TCL_OK;
- } else {
- Tcl_SetResult(interp, "emc_axis_gains: bad value for <val>",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- } else {
- // <val> is provided, so set it and use current values for others
- if (0 != Tcl_GetDoubleFromObj(0, objv[3], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need value as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
-
- p = emcStatus->motion.axis[axis].p;
- i = emcStatus->motion.axis[axis].i;
- d = emcStatus->motion.axis[axis].d;
- ff0 = emcStatus->motion.axis[axis].ff0;
- ff1 = emcStatus->motion.axis[axis].ff1;
- ff2 = emcStatus->motion.axis[axis].ff2;
- bias = emcStatus->motion.axis[axis].bias;
- maxError = emcStatus->motion.axis[axis].maxError;
- deadband = emcStatus->motion.axis[axis].deadband;
-
- if (!strcmp(varstr, "p")) {
- p = val;
- } else if (!strcmp(varstr, "i")) {
- i = val;
- } else if (!strcmp(varstr, "d")) {
- d = val;
- } else if (!strcmp(varstr, "ff0")) {
- ff0 = val;
- } else if (!strcmp(varstr, "ff1")) {
- ff1 = val;
- } else if (!strcmp(varstr, "ff2")) {
- ff2 = val;
- } else if (!strcmp(varstr, "bias")) {
- bias = val;
- } else if (!strcmp(varstr, "maxerror")) {
- maxError = val;
- } else if (!strcmp(varstr, "deadband")) {
- deadband = val;
- } else if (!strcmp(varstr, "all") && objc == 12) {
- // it's "emc_axis_gains axis all p i d ff0 ff1 ff2 bias
- // maxerror deadband"
-
- // P
- if (0 != Tcl_GetDoubleFromObj(0, objv[3], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need P gain as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- p = val;
- // I
- if (0 != Tcl_GetDoubleFromObj(0, objv[4], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need I gain as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- i = val;
- // D
- if (0 != Tcl_GetDoubleFromObj(0, objv[5], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need D gain as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- d = val;
- // FF0
- if (0 != Tcl_GetDoubleFromObj(0, objv[6], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need FF0 gain as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- ff0 = val;
- // FF1
- if (0 != Tcl_GetDoubleFromObj(0, objv[7], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need FF1 gain as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- ff1 = val;
- // FF2
- if (0 != Tcl_GetDoubleFromObj(0, objv[8], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need FF2 gain as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- ff2 = val;
- // bias
- if (0 != Tcl_GetDoubleFromObj(0, objv[9], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need bias as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- bias = val;
- // maxerror
- if (0 != Tcl_GetDoubleFromObj(0, objv[10], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need maxerror as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- maxError = val;
- // deadband
- if (0 != Tcl_GetDoubleFromObj(0, objv[11], &val)) {
- Tcl_SetResult(interp,
- "emc_axis_gains: need deadband as floating point number",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- deadband = val;
- } else {
- Tcl_SetResult(interp,
- "emc_axis_gains: not enough values for all gains",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
-
- // now write it out
- sendAxisSetGains(axis, p, i, d, ff0, ff1, ff2, bias,
- maxError, deadband);
- return TCL_OK;
- }
-
- return TCL_OK;
-}
-
static int emc_axis_backlash(ClientData clientdata,
Tcl_Interp * interp, int objc,
Tcl_Obj * CONST objv[])
@@ -4729,55 +4452,6 @@
return TCL_OK;
}
-int emc_probe_index(ClientData clientdata,
- Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
-{
- int index;
-
- if (objc != 1) {
- if (0 != Tcl_GetIntFromObj(0, objv[1], &index)) {
- Tcl_SetResult(interp,
- "emc_probe_index: <index> must be an integer",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- sendSetProbeIndex(index);
- }
-
- if (emcUpdateType == EMC_UPDATE_AUTO) {
- updateStatus();
- }
-
- Tcl_SetObjResult(interp,
- Tcl_NewIntObj(emcStatus->motion.traj.probe_index));
- return TCL_OK;
-}
-
-int emc_probe_polarity(ClientData clientdata,
- Tcl_Interp * interp, int objc,
- Tcl_Obj * CONST objv[])
-{
- int polarity;
-
- if (objc != 1) {
- if (0 != Tcl_GetIntFromObj(0, objv[1], &polarity)) {
- Tcl_SetResult(interp,
- "emc_probe_polarity: <which> must be an integer",
- TCL_VOLATILE);
- return TCL_ERROR;
- }
- sendSetProbePolarity(polarity);
- }
-
- if (emcUpdateType == EMC_UPDATE_AUTO) {
- updateStatus();
- }
-
- Tcl_SetObjResult(interp,
- Tcl_NewIntObj(emcStatus->motion.traj.probe_polarity));
- return TCL_OK;
-}
-
int emc_probe_clear(ClientData clientdata,
Tcl_Interp * interp, int objc, Tcl_Obj * CONST objv[])
{
@@ -5322,9 +4996,6 @@
emc_motion_command_status, (ClientData) NULL,
(Tcl_CmdDeleteProc *) NULL);
- Tcl_CreateObjCommand(interp, "emc_axis_gains", emc_axis_gains,
- (ClientData) NULL, (Tcl_CmdDeleteProc *) NULL);
-
Tcl_CreateObjCommand(interp, "emc_axis_backlash", emc_axis_backlash,
(ClientData) NULL, (Tcl_CmdDeleteProc *) NULL);
@@ -5348,12 +5019,6 @@
emc_kinematics_type, (ClientData) NULL,
(Tcl_CmdDeleteProc *) NULL);
- Tcl_CreateObjCommand(interp, "emc_probe_index", emc_probe_index,
- (ClientData) NULL, (Tcl_CmdDeleteProc *) NULL);
-
- Tcl_CreateObjCommand(interp, "emc_probe_polarity", emc_probe_polarity,
- (ClientData) NULL, (Tcl_CmdDeleteProc *) NULL);
-
Tcl_CreateObjCommand(interp, "emc_probe_clear", emc_probe_clear,
(ClientData) NULL, (Tcl_CmdDeleteProc *) NULL);
Tcl_CreateObjCommand(interp, "emc_probe_value", emc_probe_value,
Index: emc/usr_intf/usrmot.c
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/usrmot.c,v
retrieving revision 1.16
diff -u -r1.16 usrmot.c
--- emc/usr_intf/usrmot.c 24 Nov 2005 03:41:40 -0000 1.16
+++ emc/usr_intf/usrmot.c 28 Sep 2006 20:24:48 -0000
@@ -338,12 +338,6 @@
("probe <x> <y> <z>\tMove toward x,y,z, if probe is tripped on the way the probe position will be updated and motion stopped.\n");
printf
("probeclear\tClear the probeTripped status flag.\n");
-/*! \todo FIXME
- printf
- ("probeindex <index>\tSet which input is checked for probe status.\n");
- printf
- ("probepolarity <polarity>\tSet whether a probe is tripped on a 0 or 1.\n");
-*/
} else if (!strcmp(cmd, ">")) {
disablePrompt = !disablePrompt;
} else if (!strcmp(cmd, ";")) {
Index: emc/usr_intf/xemc.cc
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/xemc.cc,v
retrieving revision 1.3
diff -u -r1.3 xemc.cc
--- emc/usr_intf/xemc.cc 10 Jul 2006 21:40:07 -0000 1.3
+++ emc/usr_intf/xemc.cc 28 Sep 2006 20:24:56 -0000
@@ -1149,49 +1149,6 @@
return 0;
}
-static int sendAxisCycleTime(int axis, double cycleTime)
-{
- EMC_AXIS_SET_CYCLE_TIME emc_axis_set_cycle_time_msg;
-
- emc_axis_set_cycle_time_msg.axis = axis;
- emc_axis_set_cycle_time_msg.cycleTime = cycleTime;
- emc_axis_set_cycle_time_msg.serial_number = ++emcCommandSerialNumber;
- emcCommandBuffer->write(emc_axis_set_cycle_time_msg);
-
- return 0;
-}
-static int sendAxisSetGains(int axis, double p, double i, double d, double ff0, double ff1, double ff2, double bias, double maxError)
-{
- EMC_AXIS_SET_GAINS emc_axis_set_gains_msg;
-
- emc_axis_set_gains_msg.axis = axis;
- emc_axis_set_gains_msg.p = p;
- emc_axis_set_gains_msg.i = i;
- emc_axis_set_gains_msg.d = d;
- emc_axis_set_gains_msg.ff0 = ff0;
- emc_axis_set_gains_msg.ff1 = ff1;
- emc_axis_set_gains_msg.ff2 = ff2;
- emc_axis_set_gains_msg.bias = bias;
- emc_axis_set_gains_msg.maxError = maxError;
- emc_axis_set_gains_msg.serial_number = ++emcCommandSerialNumber;
- emcCommandBuffer->write(emc_axis_set_gains_msg);
-
- return 0;
-}
-
-static int sendAxisSetOutputScale(int axis, double scale, double offset)
-{
- EMC_AXIS_SET_OUTPUT_SCALE emc_axis_set_output_scale_msg;
-
- emc_axis_set_output_scale_msg.axis = axis;
- emc_axis_set_output_scale_msg.scale = scale;
- emc_axis_set_output_scale_msg.offset = offset;
- emc_axis_set_output_scale_msg.serial_number = ++emcCommandSerialNumber;
- emcCommandBuffer->write(emc_axis_set_output_scale_msg);
-
- return 0;
-}
-
static int sendAxisSetFerror(int axis, double ferror)
{
EMC_AXIS_SET_FERROR emc_axis_set_ferror_msg;
@@ -3393,12 +3350,6 @@
1 == sscanf(str11, "%lf", &outputScale) &&
1 == sscanf(str12, "%lf", &outputOffset) &&
1 == sscanf(str13, "%lf", &ferror)) {
- sendAxisCycleTime(activeAxis, cycleTime);
- emcCommandWaitDone(emcCommandSerialNumber);
- sendAxisSetGains(activeAxis, p, i, d, ff0, ff1, ff2, bias, maxError);
- emcCommandWaitDone(emcCommandSerialNumber);
- sendAxisSetOutputScale(activeAxis, outputScale, outputOffset);
- emcCommandWaitDone(emcCommandSerialNumber);
sendAxisSetFerror(activeAxis, ferror);
}
else {
Index: emc/usr_intf/axis/extensions/emcmodule.cc
===================================================================
RCS file: /cvs/emc2/src/emc/usr_intf/axis/extensions/emcmodule.cc,v
retrieving revision 1.2
diff -u -r1.2 emcmodule.cc
--- emc/usr_intf/axis/extensions/emcmodule.cc 10 Sep 2006 21:04:21 -0000 1.2
+++ emc/usr_intf/axis/extensions/emcmodule.cc 28 Sep 2006 20:24:59 -0000
@@ -565,12 +565,6 @@
F(setup_time);
F(hold_time);
F2("home_offset", homeOffset);
- F2("enable_polarity", enablePolarity);
- F2("min_limit_switch_polarity", minLimitSwitchPolarity);
- F2("max_limit_switch_polarity", maxLimitSwitchPolarity);
- F2("home_switch_polarity", homeSwitchPolarity);
- F2("homing_polarity", homingPolarity);
- F2("fault_polarity", faultPolarity);
F(setpoint);
F2("ferror_current", ferrorCurrent);
F2("ferror_highmark", ferrorHighMark);