Dave, I simply want axis to be able to utilize my scale feedback as actual joint position. Thats all.
Brian On Sun, Aug 8, 2010 at 12:28 PM, Dave <[email protected]> wrote: > 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 > ------------------------------------------------------------------------------ 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
