On 8 August 2010 07:57, Brian <[email protected]> wrote: > > In the HAL component axis, joint position and motor position are > thought of as separate concepts. Joint position is related to motor > position through the compensation logic, but otherwise they are their > own entities. This is good design, because in reality, joint position > and motor position are truly two different measurements.
Am I right in thinking that your request is basically that axis.N.joint-pos-fb should be read/write (or split into joint-pos-fb-in and joint-pos-fb-out?). Then what is displayed on the screen is the actual position from the scales? My impression is that you are happy with the current control scheme (open loop with screw compensation) >From what I can see from a cursory inspection of the code, I think that might not cause much difficulty. A less invasive way might be to persuade Axis to display the scale position, ie add pins to allow direct writing to the DRO display. -- atp ------------------------------------------------------------------------------ This SF.net email is sponsored by Make an app they can't live without Enter the BlackBerry Developer Challenge http://p.sf.net/sfu/RIM-dev2dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
