From 6945bbee6735801218cf78dbe50b19c4c0fe112d Mon Sep 17 00:00:00 2001 From: Andy Pugh Date: Fri, 28 Jan 2011 23:43:59 +0000 Subject: [PATCH 1/3] modified gearchange.comp Signed-off-by: Andy Pugh --- src/hal/components/gearchange.comp | 113 ++++++++++++++++++++++-------------- 1 files changed, 70 insertions(+), 43 deletions(-) diff --git a/src/hal/components/gearchange.comp b/src/hal/components/gearchange.comp index 2ca7250..8cbe8c8 100644 --- a/src/hal/components/gearchange.comp +++ b/src/hal/components/gearchange.comp @@ -1,88 +1,115 @@ -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"; -pin in bit gear-#-sel [32 : personality+1] """Gear selection by bit. Higher +pin in bit sel-# [32 : personality] """Gear selection by bit. Higher numbers take priority if more than one is set"""; -pin in bit sel "Alias for sel2 for compatibility with the previous version "; -pin in bit dir_in "Direction input for absolute speed + dir modes"; -pin out bit dir-out "Direction output (will be reversed for negative scales)"; +pin in bit dir-in "Direction input for absolute speed + dir modes"; +pin out bit dir-out "Direction output (will be reversed for negative ratios)"; pin out bit min-lim "Indicates that the minimum limitation is active"; pin out bit max-lim "Indicates that the maximum limitation is active"; -pin in unsigned gear-number "Gear selection as a numeric"; +pin in signed gear-number =-1 "Numeric (rather than bit) Gear selection"; 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"; -param rw float max#[32 : personality+1] = 100000 - "Maximum allowed speed in gear range N"; -param rw float acc#[32 : personality+1] = 0 - "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"; - -option extra_setup; -variable float old_speed = 0; +pin out unsigned gear "The actual detected gear"; +param rw float min-#[32: personality] = 0 +"Minimum allowed speed in gear range N"; +param rw float max-#[32 : personality] = 100000 +"Maximum allowed speed in gear range N"; +param rw float acc-#[32 : personality] = 0 +"Maximum Acceleration in output units/s. 0 = no limit"; +param rw float scale-#[32 : personality] = 1.0 """Ratio between speed input and +the required output value"""; +modparam dummy num_gears """The number of gear ratios to create in each instance. +To create mutiple instances use multiple, comma separated values."""; description """The output will be a value scaled for the selected gear, and clamped to the min/max values for that gear. -This should work for up to 32 gears. +This version should work for up to 32 gears. To load two instances, one with 5 gears and one with 6 use: -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. +loadrt gearchange num_gears=5,6 + +Gears are numbered from zero, ie the count includes neutral, so typically the +modparam should be one more than the actual gear ratio count. + +The Component accepts negative speeds, negative outputs and negative scales to +allow for gear ranges that reverse the motion. + +The scale pin is the ratio between output value and input speed, so the same VFD +scale parameter (typically set by the PWM scale parameter) will work for any +gear. It might be sensible to set the PWM scale to 1, in which case the +individual gear scales will be in rpm/volt. +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 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 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."""; + +option count_function yes; +option extra_setup yes; + +variable float old_speed = 0; function _; license "GPL"; ;; #include +#define MAX_INSTS 8 +static int num_gears[MAX_INSTS]; + +RTAPI_MP_ARRAY_INT(num_gears, MAX_INSTS, "Gear count for each gearbox"); + FUNCTION(_) { - int gear; double speed_target; double delta; - if (sel) gear = 2; // Backwards compatibility - else if (gear_number) gear = gear_number; - else for (gear = personality ; gear > 0 && !gear_sel(gear) ; gear--) {} + if (gear_number != -1) gear = gear_number; + else for (gear = personality-1 ; gear > 0 && !sel(gear) ; gear--) {} speed_filtered = fabs(speed_in); if (speed_filtered > max(gear)) { max_lim = 1; min_lim = 0; speed_filtered = max(gear);} - else if (speed_filtered < min(gear)) { + else if (speed_filtered != 0 && speed_filtered < min(gear)) { // zero is 0 min_lim = 1; max_lim = 0; speed_filtered = min(gear);} else { min_lim = 0; max_lim = 0; } - speed_target = speed_filtered * ((scale(gear) != 0)? scale(gear) : 1) - *((speed_in < 0)? -1 : 1) ; + if (scale(gear) == 0) { + speed_target = 0;} + else { + speed_target = speed_filtered / scale(gear) * ((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)); + + if (acc(gear) != 0 && fabs(speed_target - old_speed) > fabs(delta)){ + speed_out = (old_speed += delta);} + else{ + speed_out = (old_speed = speed_target);} dir_out = ((scale(gear) < 0)? !dir_in : dir_in); - dir_out = ((reverse && gear == 2)? !dir_out : dir_out); // Backwards compat + accel_limit = acc(gear); } EXTRA_SETUP( ) { - if (personality == 0) personality = 2; + if (num_gears[extra_arg] < 2) personality = 2; + else personality = num_gears[extra_arg]; return 0; } + +int get_count(void){ + int i; + for (i = 0; num_gears[i] != 0 && i < MAX_INSTS; i++){} + if (i == 0) return 1; + return i; +} -- 1.7.0.4