On 2/26/2014 8:10 AM, Mark Tucker wrote: > > This is my first attempt at merging the hal files and ini files > following discussions over the crackling motors. > Using 7i76e.zip from Peter Wallace > I have attatched the Hal and ini file. > All i get is no movement and a joint following error. Could anyone have > a look and see if there is anything obvious?. > Not sure if the files will be stripped from the post?
I don't have time to fully review your changes, but you have to put the stepgen code in velocity mode or it will continue tracking the position_cmd and ignore the velocity_cmd. There is a control-type HAL pin that needs to be set to true (1) to put the stepgen in velocity mode. I didn't see that you were doing this in your HAL file, which would definitely cause problems. -- Charles Steinkuehler char...@steinkuehler.net
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