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