From adcb1b52c9be266a651baf796f5a0a32b6370436 Mon Sep 17 00:00:00 2001
From: cbteeple <cbteeple@g.harvard.edu>
Date: Tue, 12 Oct 2021 17:11:25 -0400
Subject: [PATCH] reset current live position when zeroing the origin, and
 improved comments

---
 .../2021_07_20_high_accuracy.dmc              | 81 ++++++++++++++++++-
 1 file changed, 78 insertions(+), 3 deletions(-)

diff --git a/galil_stage_program/2021_07_20_high_accuracy.dmc b/galil_stage_program/2021_07_20_high_accuracy.dmc
index 963cac3..33135dc 100644
--- a/galil_stage_program/2021_07_20_high_accuracy.dmc
+++ b/galil_stage_program/2021_07_20_high_accuracy.dmc
@@ -75,6 +75,8 @@ joyhzone = 0.90
 debug=0
 '
 '
+'
+'===========================================
 #LOOP
 JG ;' Make sure we are in jog mode.
 xangle=(@AN[1]-2.69)/2.38;' Calculate the joystick's x-axis position
@@ -135,6 +137,8 @@ JP#SETORIG,@IN[6]=0
 JP#HOME,@IN[17]=0
 '
 '
+'
+'===========================================
 #PADLOOP
 a3=@AN[3]
 IF (a3<0)
@@ -197,8 +201,11 @@ BG X,Y
 JP#LOOP
 '
 '
-' MOVE TO HOME POSITION IN LASER VIEW
+'
+'===========================================
 #HOMELAS
+'   Move to the home position in laser view
+'
 homedx=deltax
 homedy=deltay
 JS#HOMEMOV
@@ -207,8 +214,11 @@ CB 1    ;' Turn off the "CAM VIEW" light.
 EN
 '
 '
-' MOVE TO HOME POSITION IN CAMERA VIEW
+'
+'===========================================
 #HOMECAM
+'   Move to the home position in camera view
+'
 homedx=0
 homedy=0
 JS#HOMEMOV
@@ -217,7 +227,12 @@ SB 1    ;' Turn on the "CAM VIEW" light
 EN
 '
 '
+'
+'===========================================
 #HOMEMOV
+'   Move home via a series of overshooting moves
+'   (This leads to more-precise motion)
+'
 'LM XY
 VS 400000;VA 1000000;VD 1000000;
 overx=-500
@@ -271,8 +286,11 @@ limithit=0
 EN
 '
 '
-' MOVE HOME WITH SOME OFFSET
+'
+'===========================================
 #HOMESTP
+'   Move home with some distance offset
+'
 MC ;' Wait for motion to stop
 actx=_TPA ;' Save current position.
 acty=_TPB
@@ -308,7 +326,13 @@ ENDIF
 EN
 '
 '
+'
+'===========================================
 #HOME
+'   Move the stage to the home position. If the
+'   HOME button is pressed for longer than 2 seconds,
+'   Perform the homing proedure (#HOMEXY)
+'
 btntime=TIME
 ST
 MC
@@ -336,12 +360,18 @@ BG X,Y
 JP#LOOP
 '
 '
+'
+'===========================================
 #HOMEXY
+'   Perform homing procedure. Move the stage in
+'   the negative direction until an endstop is hit.
+'
 homing=1
 JG ;' Make sure we are in jog mode.
 JP#LOOP,@IN[17]=0
 JG -400000,0;
 BG X,Y
+' If the endstop is not hit, keep moving
 JP#HOMEXY,limithit=0
 MG "X-Axis is homed"
 ST
@@ -350,6 +380,8 @@ LM XY
 cury=_TPB
 DP xcamhome,0
 DE xcamhome,0
+'
+' Move to the camera view
 JS#HOMECAM
 homing=0
 limithit=0
@@ -359,7 +391,15 @@ BG X,Y
 JP#LOOP
 '
 '
+'
+'===========================================
 #SETORIG
+'   Zero the origin to the current position. If the
+'   ZERO ORIGIN button is pressed for longer than 2
+'   seconds, set the origin offsets (#SETDEL)
+'
+currposx=0 ;' Reset the relative position
+currposy=0 ;' Reset the relative position
 btntime=TIME
 ST
 MC
@@ -386,7 +426,11 @@ usermove=0
 loopnum=0
 '
 '
+'
+'===========================================
 #FLASH
+'   Flash some lights in response to actions
+'
 bit2=@OUT[2]
 bit3=@OUT[3]
 SB 2;SB 3
@@ -405,7 +449,12 @@ JP#LOOP
 EN
 '
 '
+'
+'===========================================
 #FLASH2
+'   Flash some lights quickly to indicate
+'   action complete.
+'
 bit2=@OUT[2]
 bit3=@OUT[3]
 SB 2;SB 3
@@ -420,7 +469,12 @@ WT 300
 EN
 '
 '
+'
+'===========================================
 #FLASH3
+'   Flash some lights slowly to indicate
+'   error state.
+'
 bit2=@OUT[2]
 bit3=@OUT[3]
 SB 2;SB 3
@@ -435,7 +489,11 @@ WT 300
 EN
 '
 '
+'
+'===========================================
 #FLASHX
+'   Flash the x-endstop light.
+'
 bit2=@OUT[2]
 SB 2
 WT 300
@@ -448,7 +506,11 @@ WT 300
 EN
 '
 '
+'
+'===========================================
 #FLASHY
+'   Flash the y-endstop light.
+'
 bit3=@OUT[3]
 SB 3
 WT 300
@@ -461,7 +523,12 @@ WT 300
 EN
 '
 '
+'
+'===========================================
 #FLASHAL
+'   Flash both lights slowy to indicate
+'   error state.
+'
 bit2=@OUT[2]
 bit3=@OUT[3]
 SB 1;SB 2;SB 3
@@ -476,7 +543,11 @@ WT 300
 EN
 '
 '
+'
+'===========================================
 #SETDEL
+'   Set the values of the origin offset deltas
+'
 curx=_TPA  ;' Save current position.
 cury=_TPB
 MG ""
@@ -497,7 +568,11 @@ EN
 '
 '
 '
+'===========================================
 #LIMSWI
+'   Handle limit switch hits (stop the stage
+'   and bounce back)
+'
 limithit=1
 VS 400000;VA 4000000;VD 4000000;
 DC 10000000,10000000