Gentlemen,
This has not delayed progress.
My parameters are a follows:
SERVO_PERIOD = 1000000
INPUT_SCALE = 10000
HOME_LATCH_VEL = -.001
This configuration yielded the same results. Both with the
halscope and the visual feedback of the postion display.
The following is a copy out of my load file:
# set up the realtime thread
# read inputs first
addf ppmc.0.read servo-thread
# then run the motion controller
addf motion-command-handler servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf or2.0 servo-thread#
addf or2.1 servo-thread
addf or2.2 servo-thread
addf estop-latch.0 servo-thread
addf motion-controller servo-thread
# then the PID loops
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
# write outputs last
addf ppmc.0.write servo-thread
This seems to match the order desired. The extra functions (and &
or) will eventually be changed as I am not using some of them anymore.
Thanks
Stuart
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