Ok... I guess I don't understand what you are trying to do.. or what the issues are.
I thought this was a control issue....that you want the control to compensate for backlash and possibly a screw that that has some pitch errors, and also close the position loop with some direct reading scales. If you want to put more DRO's on the screen you can do that with a PyVCP panel. I don't see how that fixes your control issue? Dave On 8/8/2010 11:41 AM, Brian wrote: > 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 > > ------------------------------------------------------------------------------ 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
