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Set brick to calculate velocity profile #395

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Merged
tomtrafford merged 1 commit into from
Feb 11, 2026
Merged

Set brick to calculate velocity profile #395

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6 changes: 6 additions & 0 deletions malcolm/modules/pmac/blocks/pmac_trajectory_block.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -218,3 +218,9 @@
description: the version number of the pmac's trajectory program
rbv: $(pv_prefix):ProgramVersion_RBV
config: False

- ca.parts.CAChoicePart:
name: calculateVelocities
description: Does the brick need to calculate the velocity profile
pv: $(pv_prefix):ProfileCalcVel
config: False
4 changes: 2 additions & 2 deletions malcolm/modules/pmac/parts/pmactrajectorypart.py
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Expand Up @@ -110,9 +110,9 @@ def write_profile(
z: ADemandTrajectory = None,
) -> None:
child = context.block_view(self.mri)

child.calculateVelocities.put_value("YES")
# make sure a matching trajectory program is installed on the pmac
if child.trajectoryProgVersion.value != TRAJECTORY_PROGRAM_NUM:
if child.trajectoryProgVersion.value < TRAJECTORY_PROGRAM_NUM:
if child.trajectoryProgVersion.value >= FALLBACK_TRAJ_PROGRAM_NUM:
self.log.warning(
f"pmac trajectory program is version {FALLBACK_TRAJ_PROGRAM_NUM}"
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