From 644cc523cf2873660fa656602e94a922370a5116 Mon Sep 17 00:00:00 2001 From: Andy Date: Sun, 23 Jan 2011 22:23:06 +0000 Subject: [PATCH] If something claims to be backwards compatible, it should at least use the same arithmetic. Signed-off-by: Andy --- src/hal/components/gearchange.comp | 41 +++++++++++++++++++++--------------- 1 files changed, 24 insertions(+), 17 deletions(-) diff --git a/src/hal/components/gearchange.comp b/src/hal/components/gearchange.comp index 2ca7250..09968c5 100644 --- a/src/hal/components/gearchange.comp +++ b/src/hal/components/gearchange.comp @@ -1,5 +1,5 @@ -component gearchange """Calculate the correct motor speed setpoint for a -machine with multiple gear ratios."""; +component gearchange """Adjust motor speed command for geared spindles. +Scales the input value to the output depending on selected gear."""; pin in float speed-in "Speed command input."; pin out float speed-out "Speed command to DAC/PWM"; @@ -14,11 +14,11 @@ pin in unsigned gear-number "Gear selection as a numeric"; pin out float speed-filtered "Speed command to display, limited and absolute"; pin out float accel-limit "Acceleration limit for the selected gear"; param rw float min#[32: personality+1] = 0 - "Minimum allowed speed in gear range N"; +"Minimum allowed speed in gear range N"; param rw float max#[32 : personality+1] = 100000 - "Maximum allowed speed in gear range N"; +"Maximum allowed speed in gear range N"; param rw float acc#[32 : personality+1] = 0 - "Maximum Acceleration in rpm/s. 0 = no limit"; +"Maximum Acceleration in rpm/s. 0 = no limit"; param rw float scale#[32 : personality+1] = 1.0 "Ratio in gear range 1"; param rw bit reverse "negates the value of scale2, for compatibility"; @@ -34,19 +34,26 @@ loadrt gearchange count=2 personality=5,6 For a single instance you can omit the count, eg with 11 gears you can use: loadrt gearchange personality=11 -It accepts negative speeds, negative outputs and negative scales to allow for -gear ranges that reverse the motion. +By default the number of gears is set to 3, so that gear1 and gear2 exist for +compatibility with earlier (2 gear) versions of the component. (There will also +be a surplus gear0 in that case) -The scale is the ratio between input speed and output speed, so the same VFD -scale parameter will work for any gear. The output value is that motor speed -which would be required to give the requested output speed with a gear ratio of -1. If gear 1 is the slowest gear then other ratios will probably need to be -fractional. If the highest numbered gear is the slowest then the scales will -probably need to be greater than one. +The Component accepts negative speeds, negative outputs and negative scales to +allow for gear ranges that reverse the motion. + +The scale is the ratio between output speed and input speed, so the same VFD +scale parameter (typically set by the PWM scale parameter) will work for any +gear. +The output value is that motor speed which would be required to give the +requested output speed with a gear ratio of 1 at the set PWM scale. For example +if gear 1 has a max speed of 1000rpm and requires 10V to the VFD to achieve +that, and gear 2 has a max speed of 4000rpm then gearchange.N.ratio2 should be +set to 4. Then a spindle speed of 1000rpm would give 10V output in gear 1 and +2.5V in gear 2. The gear can be input either as a numeric value (possibly assembled from \\fBweighted_sum\\fR components to convert the positions of several levers into -a gear) or as an individual select bit for each gear. """; +a gear) or as an individual select bit for each gear."""; function _; license "GPL"; @@ -70,12 +77,12 @@ FUNCTION(_) { speed_filtered = min(gear);} else { min_lim = 0; max_lim = 0; } - speed_target = speed_filtered * ((scale(gear) != 0)? scale(gear) : 1) + speed_target = speed_filtered / ((scale(gear) != 0)? scale(gear) : 1) *((speed_in < 0)? -1 : 1) ; delta = acc(gear) * fperiod * ((speed_target > old_speed)? 1 : -1); speed_out = - ((acc(gear) != 0 && fabs(speed_target - old_speed) > fabs(delta))? - (old_speed += delta) : (old_speed = speed_target)); + ((acc(gear) != 0 && fabs(speed_target - old_speed) > fabs(delta))? + (old_speed += delta) : (old_speed = speed_target)); dir_out = ((scale(gear) < 0)? !dir_in : dir_in); dir_out = ((reverse && gear == 2)? !dir_out : dir_out); // Backwards compat -- 1.7.0.4