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spc-group / ioc-austin

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Joint and XYZ does not move #23

Open yannachen opened 9 months ago

yannachen commented 9 months ago

When the join/Cartesian coordinate motor value remains the same, the motor does not move. Could we keep the drive value following the rbv like common phytron motors?

canismarko commented 8 months ago

Problem is that caproto motor support only moves if RBV and setpoint are different. We can remove this, but then the autosave positions actually move the robot during boot. We should remove motor setpoints from autosave.

We'll also need to update the setpoints to the RBV during startup, and do it in a way that doesn't physically move the robot (actually, might not matter since moving to the rbv is effectively a no-op).

yannachen commented 8 months ago

What about giving the setpoint of Home during startup? The robot can go home safely using Home and without touching KB or anything else. If we remove the motor setpoints from the autosave, could we see the values during moving? If we keep Home during startup, could we still keep the motor setpoints in the autosave?

canismarko commented 8 months ago

What about giving the setpoint of Home during startup?

If I understand right, you want the robot to physicalally move when the IOC is started?

I think this is doable, but we should be sure that's what we really want. Generally, starting up an IOC doesn't physically move anything.

If we remove the motor setpoints from the autosave, could we see the values during moving?

You're asking if the readback value updates when the motor moves? Yes, that will not be affected.

If we keep Home during startup, could we still keep the motor setpoints in the autosave?

I'm not sure I understand the question. If we send the motor to the pre-defined home position, then no we should not keep the motor setpoints in the autosave, otherwise there will be two things trying to move the motor and I don't know which one will "win".