add ActiveHoming

README.md

@@ -1,6 +1,9 @@
 
 # @simatic-ax.axftcmlib
 
+![GitHub branch status](https://img.shields.io/github/checks-status/sjuergen/https%3A%2F%2Fgithub.jparrowsec.cn%2Fsimatic-ax%2Faxftcmlib/main)
+
+
 ## Description
 
 This library was created for the `Fischertechnik Factorysimulation 24V`. It contains classes for the basic elements of this Model.
@@ -32,7 +35,7 @@ Simatic.Ax.axftcmlib
 
 ## Classes
 
-## ControlModuleAbstract
+### ControlModuleAbstract
 
 This is a base class for all control modules
 
@@ -177,9 +180,51 @@ classDiagram
 
 </details>
 
-### Class Axis
+## Axis
+
+This Axis concept has the same look and feel like the Motion Control Library in Siamtic AX. It is designed for Fischertechnik Models whre just a simple On/Off-Motor is used.
+
+### Class Diagram 
+
+```mermaid
+classDiagram  
+  class itfAxis {
+    +PowerOn()
+    +PowerOff()
+  }
+  class AxisBase {  
+    <<abstract>> 
+    + Attach()
+    + IsAttached()
+    + TO_Axis
+  }  
+  class SpeedAxis {  
+    +MoveVelocity()
+    +TO_SpeedAxis
+  }  
+  class PosAxis {  
+    +MoveRelative()
+    +MoveAbsolute()
+    +TO_PosAxis
+  }  
+
+  AxisBase <|-- SpeedAxis
+  SpeedAxis <|-- PosAxis    
+  itfAxis <|-- AxisBase    
+  TO_Axis <|-- TO_SpeedAxis  
+  TO_SpeedAxis <|-- TO_PosAxis  
+  AxisBase --> TO_Axis
+  SpeedAxis --> TO_SpeedAxis
+  PosAxis --> TO_PosAxis
+  SpeedAxis --|> itfSpeedAxis
+  PosAxis --|> itfPosAxis
+```
+
+### SpeedAxis
+
+### PosAxis
 
-The Axis consists of a motor and an Encoder
+### MotorBiDirectional
 
 <details><summary>Motor ... </summary>
 
@@ -247,50 +292,6 @@ If you haven't a hardware encoder for the Axis, then you can simulate this hardw
 
 </details>
 
-|Method|Description|
-|-|-|
-|RunCyclic()| Execute the cyclic evaluation of the axis|
-|MoveVelocity(Velocity : LREAL, direction : Direction)| moves the axis with given speed into certain direction until Halt() is called|
-|MoveRelative(velocity : LREAL, distance : LINT) : BOOL|moves the axis for a distance based on the current position|
-|MoveAbsolute(velocity : LREAL, position : LINT) : BOOL|moves the axis based on a default point -> Axis needs to be homed|
-|Homing(velocity : LREAL, direction : Direction) : BOOL|moves the axis into its homing position|
-|Homing(Position : LINT) : BOOL| homes the axes without movement -> position is set to given value|
-|Halt()|Stops all movement|
-|GetPlcOpenState() : PlcOpenState | Returns current status of axis: Ready, busy, done, error|
-|IsRUnning() : BOOL| Checks, if the  axis is currently moving|
-
-<details><summary>Example for the class Axis ... </summary>
-
-```iec-st
-
-  VAR_GLOBAL
-    SortingLineMotor : BOOL; //Actual PLC-variable
-    MotorOutputWriterForward : BinOutput; //Used to write on the PLC-variable
-    MotorOutputWriterReverse : BinOutput; //Used to write on the PLC-variable
-    MotorClassInstance : MotorFT := (Forward := MotorOutputWriterForward, Reverse := MotorOutputWriterReverse ); //Class instance initialized with the needed OutputWriter
-
-    TimeProviderForAxis : TimeProvider; //Class instance
-    TimebasedEncoderForAxis         : TimeBasedEncoder  := (TimeProvider := TimeProviderForAxis, EncoderAxis := ConveyorbeltForSortingLine, Velocity := 1.0); //Class instance
-
-    AxisReferenceSwitch  : BinSignal;
-    ConveyorbeltForSortingLine : Axis := (Motor :=  MotorForAxis, Encoder := TimebasedEncoderForAxis, ReferenceSwitch := AxisReferenceswitch);
-  END_VAR
-
-  PROGRAM
-    TimebasedEncoderForAxis.Evaluate(); //Checking the position every cycle -> must be called every cycle
-    TimeProviderForAxis.Evaluate();    //Checking the cycle time -> must be called every cycle
-
-    ConveyorbeltForSortingLine.RunCyclic(); //Must be called every cycle
-    ConveyorbeltForSortingLine.Homing(Position := 0);
-    ConveyorbeltForSortingLine.MoveAbsolute(Velocity := 1.0, Position := 4000); 
-
-     MotorForwardOutputWriter.WriteCyclic(Q => SortingLineMotorForConveyor); // Write output signals 
-  END_PROGRAM
-
-```
-
-</details>
-
 ## Markdownlint-cli
 
 This workspace will be checked by the [markdownlint-cli](https://github.com/igorshubovych/markdownlint-cli) (there is also documented ho to install the tool) tool in the CI workflow automatically.  

src/Axis/PosAxis/PosAxis.st

@@ -1,3 +1,4 @@
+USING Simatic.Ax.IO.Input;
 USING Simatic.Ax.Commands;
 
 NAMESPACE Simatic.Ax.axftcmlib.Motion
@@ -25,6 +26,7 @@ NAMESPACE Simatic.Ax.axftcmlib.Motion
             _commandMoveRelative : commandMoveRelative;
             _commandMoveAbsolute : commandMoveAbsolute;
             _commandHomeDirect : commandHomeDirect;
+            _commandActiveHoming : commandActiveHoming;
         END_VAR
 
         METHOD PROTECTED OVERRIDE MakeAxisAbstract
@@ -54,7 +56,15 @@ NAMESPACE Simatic.Ax.axftcmlib.Motion
                 Position : LREAL;
             END_VAR
             HomeDirect := _commandHomeDirect.Start(AxisRef := _PosAxisRef, Position := Position);
-
+        END_METHOD
+
+        METHOD PUBLIC ActiveHoming : itfCommand
+            VAR_INPUT
+                Position : LREAL;
+                Direction : Direction;
+                RefSensor : IBinSignal;
+            END_VAR
+            ActiveHoming := _commandActiveHoming.Start(AxisRef := _PosAxisRef, Direction := Direction, Position := Position, RefSensor := RefSensor);
         END_METHOD
     END_CLASS
 

src/Axis/PosAxis/commandActiveHoming.st

@@ -0,0 +1,75 @@
+USING Simatic.Ax.IO.Input;
+USING Simatic.Ax.IO.Input;
+USING Simatic.Ax.Commands;
+USING Simatic.Ax.IO.Input;
+
+NAMESPACE Simatic.Ax.axftcmlib.Motion
+
+    CLASS INTERNAL commandActiveHoming
+        EXTENDS ExecuteCommand
+        VAR
+            _AxisRef : REF_TO TO_PosAxis;
+            _velocity : LREAL;
+            _direction : Direction;
+            _position : LREAL;
+            _iRefSensor : IBinSignal;
+            _exec : BOOL;
+        END_VAR
+
+        METHOD PUBLIC Start : itfCommand
+            VAR_INPUT
+                AxisRef : REF_TO TO_PosAxis;
+                Velocity : LREAL := 100.0;
+                Direction : Direction;
+                Position : LREAL := 0.0;
+                RefSensor : IBinSignal;
+            END_VAR
+            _AxisRef := AxisRef;
+            _velocity := Velocity;
+            _direction := Direction;
+            _position := Position;
+            _iRefSensor := RefSensor;
+            THIS.ExecuteWithRisingEdge();
+            Start := THIS;
+        END_METHOD
+
+        METHOD PROTECTED OVERRIDE Execute
+            IF NOT(_exec) THEN
+                RETURN;
+            END_IF;
+            IF (NOT _AxisRef^.isPowerdOn) THEN
+                THIS.SetError(WORD#16#8001);
+            ELSE
+                _AxisRef^.Run(TRUE);
+                IF (_iRefSensor.QRis()) THEN
+                    _AxisRef^.Run(FALSE);
+                    _Done := _AxisRef^.SetPosition(value := _position);
+                    ;
+                END_IF;
+            END_IF;
+        END_METHOD
+
+        METHOD PROTECTED OVERRIDE SetExecute
+            VAR_INPUT
+                exec : BOOL;
+            END_VAR
+            _exec := exec;
+            IF (exec) THEN
+                THIS.InitState();
+                IF (_AxisRef = NULL) THEN
+                    THIS.SetError(WORD#16#8003);
+                    RETURN;
+                ELSIF (_iRefSensor = NULL) THEN
+                    THIS.SetError(WORD#16#8004);
+                    RETURN;
+                END_IF;
+                IF (NOT _AxisRef^.isPowerdOn) THEN
+                    THIS.SetError(WORD#16#8001);
+                ELSIF (_AxisRef^.IsRunning()) THEN
+                    THIS.SetError(WORD#16#8002); // Can not be homed because axis is not stillstanding
+                END_IF;
+            END_IF;
+        END_METHOD
+    END_CLASS
+
+END_NAMESPACE

src/Motor/IMotor.st

@@ -1,20 +1,7 @@
 
-NAMESPACE Simatic.Ax.axftcmlib.Motion
-    // This interface provides methods to control a unidirectional  motor.
-    INTERFACE IMotor
-        ///Starts the Motor with a given direction and velocity
-        METHOD Move
-            VAR_INPUT
-                velocity : LREAL;
-            END_VAR
-        END_METHOD
-        ///Stops every movement of the Motor
-        METHOD Halt
-        END_METHOD
-    END_INTERFACE
-
+NAMESPACE Simatic.Ax.axftcmlib.Motion    
     // This interface provides methods to control a bidirectional  motor.
-    INTERFACE IMotorBiDiretional EXTENDS IMotor
+    INTERFACE IMotorBiDiretional
         ///Starts the Motor with a given direction and velocity
         METHOD Move
             VAR_INPUT
@@ -23,5 +10,7 @@ NAMESPACE Simatic.Ax.axftcmlib.Motion
             END_VAR
         END_METHOD
         ///Stops every movement of the Motor
+        METHOD Halt
+        END_METHOD
     END_INTERFACE
 END_NAMESPACE

src/Motor/MotorBiDirectional.st

@@ -6,33 +6,49 @@ NAMESPACE Simatic.Ax.axftcmlib.Motion
     ///Class for creating a basic Motor 
     /// It supports two directions 
     /// It is used to power the axis
-    CLASS MotorFT EXTENDS MotorUniDirectional IMPLEMENTS IMotorBiDiretional
+    CLASS MotorFT
+        IMPLEMENTS IMotorBiDiretional
         VAR PUBLIC
+            Forward : IBinOutput;
             Reverse : IBinOutput;
         END_VAR
         VAR PROTECTED
         END_VAR
         ///Starts the Motor with a given direction and velocity
+
         METHOD PUBLIC Move
             VAR_INPUT
                 velocity : LREAL;
                 direction : Direction;
             END_VAR
             IF (direction = Direction#PositiveDirection) THEN
-                Forward.SetOn();
-                Reverse.SetOff();
+                IF (Forward <> NULL) THEN
+                    Forward.SetOn();
+                END_IF;
+                IF (Reverse <> NULL) THEN
+                    Reverse.SetOff();
+                END_IF;
             ELSE
-                Reverse.SetOn();
-                Forward.SetOff();
+                IF (Forward <> NULL) THEN
+                    Forward.SetOff();
+                END_IF;
+                IF (Reverse <> NULL) THEN
+                    Reverse.SetOn();
+                END_IF;
             END_IF;
             ;
         END_METHOD
         ///Stops every movement of the Motor
-        METHOD PUBLIC OVERRIDE Halt
-            Reverse.SetOff();
-            Forward.SetOff();
+
+        METHOD PUBLIC Halt
+              IF (Forward <> NULL) THEN
+                    Forward.SetOff();
+                END_IF;
+                IF (Reverse <> NULL) THEN
+                    Reverse.SetOff();
+                END_IF;
             ;
         END_METHOD
     END_CLASS
 
-END_NAMESPACE
+END_NAMESPACE