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3D Coordinate Transform Implementation #5

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3D Coordinate Transform Implementation #5

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NSLentz
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@NSLentz NSLentz commented Aug 20, 2024

Description

  • Implemented a coordinate transform 3D function block and associated logic to allow the user to command 3 virtual axes which are mapped to motion on 3 real axes.
  • Updated the code to conform to latest standards.

Motivation and Context

How Has This Been Tested?

  • Preliminary testing done.
  • Needs tuning and final testing with actual installed system.

Where Has This Been Documented?

  • Code has numerous descriptions and comments for documentation.

Screenshots (if appropriate):

Pre-merge checklist

  • Code works interactively
  • Code contains descriptive comments
  • Test suite passes locally
  • Libraries are set to fixed versions and not Always Newest
  • Code committed with pre-commit (alternatively pre-commit run --all-files)

NSLentz added 13 commits August 1, 2024 17:42
@NSLentz
Created FB_CoordinateTransform3D function block. Validated that forwa…
f4fa4b8 
…rd and inverse transformation matrix equations are at least consistent with each other. Some rounding errors seem to be accumulating, might need to fix that.
@NSLentz
Completed idea for 3d coordinate transform using virtual NC axes. Nee…
d5a619a 
…d to test.
@NSLentz
Updated to make alpha, beta, gamma settings stored in persistent data…
b374c85 
… on plc. Made accessible via PVs with descriptions.
@NSLentz
Updated ioc Makefile to latest version.
27ac9a4
@NSLentz
Fixed buf in ioc db description field which caused a failure to load …
88e4f82 
…the database.
@NSLentz
Fixed another bug in a description field causing db to not load.
db8d3f7
@NSLentz
Finished implementation and testing of coordinate-transform using vir…
08c50b7 
…tual axes.
@NSLentz
Modified axis controls per desired positive/negative directions and t…
b7fabd8 
…o account for X and Y motors on the sample paddle being swapped.
@NSLentz
Implemented wrapper around coordinate transform. Updated default angl…
1e562a2 
…es. Wrapper allows calling rotations in any order.
@NSLentz
Corrected issues in wrapper function. Adjusted angles.
4504e04
@NSLentz
Switched to temporary use of test version of motion library 0.0.0. Us…
d7f3686 
…ing test version of FB_MotionVirtualFrame for moving in different coordinate system.
@NSLentz
Updated motion library to fix bugs found while testing MRCO. Modified…
bd0da3b 
… MRCO configuration to accommodate. This commit marks MRCO coordinate transform system as ready for testing with the laser.
@NSLentz
Added EPS for sample paddle Z and gas needle Z. Testing of different …
b41d198 
…coordinate system is now complete and it works.
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@NSLentz