Changeset 9439 for trunk/MagicSoft/Cosy/main/MTracking.cc

Timestamp:

05/09/09 13:48:12 (16 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/main/MTracking.cc (modified) (3 diffs)

trunk/MagicSoft/Cosy/main/MTracking.cc

@@ -33 +33 @@
     // Send the new velocities for both axes.
     //
-    fCosy->fMac2->SendSDO(0x3006, 1, (LWORD_t)(v.Zd()*vrzd));  // SetRpmVelocity [re/min]
-    fCosy->fMac1->SendSDO(0x3006, 1, (LWORD_t)(v.Az()*vraz));  // SetRpmVelocity [re/min]
+    fCosy->fMac2->SendSDO(0x3007, (LWORD_t)(v.Zd()*vrzd));  // SetRpmVelocity [re/min]
+    fCosy->fMac1->SendSDO(0x3007, (LWORD_t)(v.Az()*vraz));  // SetRpmVelocity [re/min]
 
     //
     // Wait for the objects to be acknoledged.
     //
-    fCosy->fMac2->WaitForSdo(0x3006, 1, 100);
-    fCosy->fMac1->WaitForSdo(0x3006, 1, 100);
+    fCosy->fMac2->WaitForSdo(0x3007, 0, 100);
+    fCosy->fMac1->WaitForSdo(0x3007, 0, 100);
 
     //
@@ -272 +272 @@
     {
         /*
-        sla.Now(1);
+         // Code for position control mode
+         // Set: S-0-0001
+         // Set: S-0-0002
+         // Set: P-0-0099
+         // Set: P-0-0187 (Spline)
+         // Replace S-0-0258 by S-0-0047 in communication
+
+        sla.Now();
         const ZdAz pointing = sla.CalcZdAz(fCosy->fRaDec); // [rad]
         ZdAz dest = fCosy->AlignTrackingPos(pointing);     // fix ambiguity
@@ -279 +286 @@
             break;
         dest *= 1./TMath::TwoPi(); //[rev]
-        fCosy->fMac2->SendSDO(0x6004, 0, (LWORD_t)(dest.Zd()*fCosy->fMac2->GetPosRes()+.5), false);
-        fCosy->fMac1->SendSDO(0x6004, 0, (LWORD_t)(dest.Az()*fCosy->fMac1->GetPosRes()+.5), false);
-        usleep(100000); // 1s
+        fCosy->fMac2->SendSDO(0x6004, (LWORD_t)(dest.Zd()*fCosy->fMac2->GetPosRes()+.5), false);
+        fCosy->fMac1->SendSDO(0x6004, (LWORD_t)(dest.Az()*fCosy->fMac1->GetPosRes()+.5), false);
+        usleep(10000); // 10ms
         continue;
         */