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pcdshub / lcls-twincat-optics

TwinCAT 3 Motion Control for LCLS Optics
https://pcdshub.github.io/lcls-twincat-optics/
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PR #1 TODO #2

Open jsheppard95 opened 5 years ago

jsheppard95 commented 5 years ago

Running list of desired functionality:

  1. Diagnostic messages - no more waiting for moves to complete that never occur because we've exceeded the gantry tolerance, output for coupling/decoupling, etc.

  2. Encoder position array/basic statistics - Implementation of LCLSGeneral library to store encoder positions in an array and push to epics for stability analysis

klauer commented 4 years ago

How far did we get on this? I think you (we at some point) had poked around a bit with (2), right?

jsheppard95 commented 4 years ago

How far did we get on this? I think you (we at some point) had poked around a bit with (2), right?

I've really done nothing with (1) so far, and yes I poked around with (2) a bit as shown here: https://github.com/jsheppard95/MR1L0-MR2L0/blob/master/MR1L0-MR2L0/MR1L0_MR2L0_PLC/POUs/Main.TcPOU#L188

Then I was meaning to put that into the library to avoid copy/paste but haven't gotten around to doing that yet.

jsheppard95 commented 4 years ago

Encoder stats/rms watch in commit 72517e0