On 21 November 2010 17:07, Jeff Epler <[email protected]> wrote:

> At the time, my goal was to allow HAL-directed coordinated motion
> *instead of* interpreter-directed motion.

An over-elaborate solution would be to have a system similar to the
engine-control software I work with.
Typically any given parameter (fuel pressure, main injection timing
for example) will have a manual control variable associated with it,
and a flag that determines whether the manual value is ignored,
replaces the calculated value, or is addd to it. To experiment with
earlier injection you would use the additional mode with a negative
offset, or to fix the fuel pressure you would use the replacement
mode.
This is very useful to us. That does not mean that it would be very
useful to EMC2.

> Adding offsets is different (since it could take place concurrently with
> interpreter-directed motion), but maybe some of the same ideas apply.

I think that the underlying idea is much the same. The problems certainly are.

-- 
atp

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