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Bliss
bliss
Commits
fee48fd7
Commit
fee48fd7
authored
Apr 26, 2021
by
bliss administrator
Committed by
Matias Guijarro
Jul 08, 2021
Browse files
micos: add new config parameter "home_position" to reset the position to a new reference
parent
843f98e6
Changes
1
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bliss/controllers/motors/micos.py
View file @
fee48fd7
...
...
@@ -599,6 +599,9 @@ class micos(Controller):
# if clwintime == None:
# axis.axis_settings.add("cloop_wintime",float)
# Get the home position if any
axis
.
home_position
=
axis
.
config
.
get
(
"home_position"
,
float
,
None
)
def
initialize_hardware_axis
(
self
,
axis
):
"""
This function serves for the HARDWARE INITIALIZION of an axis.
...
...
@@ -2960,13 +2963,9 @@ class micos(Controller):
# the controller position value.
axis
.
sync_hard
()
# set user position to be equal to the offset
# axis.position = current_offset
# axis.position = -120.0
axis
.
position
=
-
122.0
# set endswitch types to 2 since reset_axis() sets them to 1
# _ans = self._set_endswitch_types(axis,2,2)
# Apply a home position if any
if
axis
.
home_position
is
not
None
:
axis
.
position
=
axis
.
home_position
# Restore the velocity for moving to the reference position
# to the value as was found in the configuration
...
...
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