Andy, You and I are now on the same page. That is EXACTLY what I would like to see. It would be simple, and would solve all the other BS that has been errantly discussed in this thread.
In addition to splitting the joint-pos-fb PIN as you mention, it would be cool that add a PIN that has the joint-pos-err like the motor position control does. This would be helpful when running a dual loop system. I am not sure if just adding a pin to write to the DRO would get the job done. It definitely doesn't follow the model of reality. Brian On Sun, Aug 8, 2010 at 8:00 AM, Andy Pugh <[email protected]> wrote: > 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 > ------------------------------------------------------------------------------ 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
