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Adding deltas to ATMs #72

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merged 7 commits into from
Oct 9, 2024
Merged

Adding deltas to ATMs #72

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d8be313
Adding deltas to ATMs
jyotiphy Oct 8, 2024
6871a9f
Some cleaning
jyotiphy Oct 8, 2024
a77a73c
Ran pre-commit
jyotiphy Oct 8, 2024
6d7dc31
something got messed up with licensen config
jyotiphy Oct 8, 2024
4b0f407
Ran pre-commit
jyotiphy Oct 9, 2024
1a1944c
Decreased delta to eliminate/dec the overlap between two setpoints
jyotiphy Oct 9, 2024
30f884c
Merge branch 'master' into cc_targets
ZLLentz Oct 9, 2024
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14 changes: 7 additions & 7 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_TM1K2_ATM.TcPOU
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.18">
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
<POU Name="PRG_TM1K2_ATM" Id="{c02e8350-6bfd-4c3f-8509-cf01c04221fa}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM PRG_TM1K2_ATM
VAR
Expand All @@ -25,12 +25,12 @@ END_VAR
<ST><![CDATA[
fbStateSetup(stPositionState:=stDefault, bSetDefault:=TRUE);

fbStateSetup(stPositionState:=fbTM1K2.stOut, fPosition:=-16.00, sPmpsState:='TM1K2:ATM-OUT');
fbStateSetup(stPositionState:=fbTM1K2.stTarget1, fPosition:=-39.124, sPmpsState:='TM1K2:ATM-TARGET1');
fbStateSetup(stPositionState:=fbTM1K2.stTarget2, fPosition:=-53.5, sPmpsState:='TM1K2:ATM-TARGET2');
fbStateSetup(stPositionState:=fbTM1K2.stTarget3, fPosition:=-67.874, sPmpsState:='TM1K2:ATM-TARGET3');
fbStateSetup(stPositionState:=fbTM1K2.stTarget4, fPosition:=-82.25, sPmpsState:='TM1K2:ATM-TARGET4');
fbStateSetup(stPositionState:=fbTM1K2.stTarget5, fPosition:=-96.623, sPmpsState:='TM1K2:ATM-TARGET5');
fbStateSetup(stPositionState:=fbTM1K2.stOut, fPosition:=-16.00, fDelta:=10, sPmpsState:='TM1K2:ATM-OUT');
fbStateSetup(stPositionState:=fbTM1K2.stTarget1, fPosition:=-39.124, fDelta:=10, sPmpsState:='TM1K2:ATM-TARGET1');
fbStateSetup(stPositionState:=fbTM1K2.stTarget2, fPosition:=-53.5, fDelta:=10, sPmpsState:='TM1K2:ATM-TARGET2');
fbStateSetup(stPositionState:=fbTM1K2.stTarget3, fPosition:=-67.874, fDelta:=10, sPmpsState:='TM1K2:ATM-TARGET3');
fbStateSetup(stPositionState:=fbTM1K2.stTarget4, fPosition:=-82.25, fDelta:=10, sPmpsState:='TM1K2:ATM-TARGET4');
fbStateSetup(stPositionState:=fbTM1K2.stTarget5, fPosition:=-96.623, fDelta:=10, sPmpsState:='TM1K2:ATM-TARGET5');
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This is implemented correctly.

All of the ranges overlap here. It doesn't necessarily need to be fixed, the scientists might prefer this. It should be documented.
I ordered them in reverse because it made the overlaps easier for me to spot.

t5: (-106.623, -86.623)
t4: (-92.125, -72.25)
t3: (-77.874, -57.874)
t2: (-63.5, -43.5)
t1: (-49.124, -29.124)
out: (-26, -6)

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Yes, I know about the overlap. How do you think it will react in terms of faults in case of overlap between states ?

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I think the code will "pick one state" in the overlap region.
I do not know how the faults will react, maybe nothing bad will happen at all?

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Maybe!? I will actually try to fix it and try to avoid overlaps by tuning delta.

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I'll approve now and I'll approve again if you decide to tune the deltas


fbTM1K2(
fbFFHWO := GVL.fbFastFaultOutput2,
Expand Down
16 changes: 8 additions & 8 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_TM2K2_ATM.TcPOU
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.18">
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
<POU Name="PRG_TM2K2_ATM" Id="{127a807d-3b35-4680-8720-2eb4a2f35b86}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM PRG_TM2K2_ATM
VAR
Expand All @@ -24,13 +24,13 @@ END_VAR
<ST><![CDATA[
fbStateSetup(stPositionState:=stDefault, bSetDefault:=TRUE);

fbStateSetup(stPositionState:=fbTM2K2.stOut, fPosition:=5.3, sPmpsState:='TM2K2:ATM-OUT');
fbStateSetup(stPositionState:=fbTM2K2.stTarget1, fPosition:=-15.5, sPmpsState:='TM2K2:ATM-TARGET1');
fbStateSetup(stPositionState:=fbTM2K2.stTarget2, fPosition:=-36.5, sPmpsState:='TM2K2:ATM-TARGET2');
fbStateSetup(stPositionState:=fbTM2K2.stTarget3, fPosition:=-52.0, sPmpsState:='TM2K2:ATM-TARGET3');
fbStateSetup(stPositionState:=fbTM2K2.stTarget4, fPosition:=-60.5, sPmpsState:='TM2K2:ATM-TARGET4');
fbStateSetup(stPositionState:=fbTM2K2.stTarget5, fPosition:=-77.0, sPmpsState:='TM2K2:ATM-TARGET5');
fbStateSetup(stPositionState:=fbTM2K2.stTarget6, fPosition:=-96.6, sPmpsState:='TM2K2:ATM-TARGET6');
fbStateSetup(stPositionState:=fbTM2K2.stOut, fPosition:=5.3, fDelta:=5, sPmpsState:='TM2K2:ATM-OUT');
fbStateSetup(stPositionState:=fbTM2K2.stTarget1, fPosition:=-15.5, fDelta:=10, sPmpsState:='TM2K2:ATM-TARGET1');
fbStateSetup(stPositionState:=fbTM2K2.stTarget2, fPosition:=-36.5, fDelta:=10, sPmpsState:='TM2K2:ATM-TARGET2');
fbStateSetup(stPositionState:=fbTM2K2.stTarget3, fPosition:=-52.0, fDelta:=7, sPmpsState:='TM2K2:ATM-TARGET3');
fbStateSetup(stPositionState:=fbTM2K2.stTarget4, fPosition:=-60.5, fDelta:=10, sPmpsState:='TM2K2:ATM-TARGET4');
fbStateSetup(stPositionState:=fbTM2K2.stTarget5, fPosition:=-77.0, fDelta:=10, sPmpsState:='TM2K2:ATM-TARGET5');
fbStateSetup(stPositionState:=fbTM2K2.stTarget6, fPosition:=-96.6, fDelta:=10, sPmpsState:='TM2K2:ATM-TARGET6');
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Implemented correctly again, some overlaps again

t6: (-106.6, -86.6)
t5: (-87.0, -67.0)
t4: (-70.5, -50.5)
t3: (-59.0, -45.0)
t2: (-46.5, -26.5)
t1: (-25.5, -5.5)
out: (0.3, 10.3)


fbTM2K2(
fbFFHWO := GVL.fbFastFaultOutput2,
Expand Down
2 changes: 1 addition & 1 deletion plc-kfe-rix-motion/kfe_rix_motion/kfe_rix_motion.tmc
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Original file line number Diff line number Diff line change
Expand Up @@ -109131,7 +109131,7 @@ The BPTM will throw an error if the arbiter does not have enough space for the t
</Property>
<Property>
<Name>ChangeDate</Name>
<Value>2024-07-30T16:09:02</Value>
<Value>2024-10-08T15:46:56</Value>
</Property>
<Property>
<Name>GeneratedCodeSize</Name>
Expand Down