I got my filtered speed feedback working by copying and modifying parts
of nist lathe and sim lathe. Tonight I tried to add PID control to the
spindle and can't get it to run. I get this error -
HAL: ERROR: bad position: 0
Here is what I added tonight (beside adding another PID loop (count=4)
and such to core servo.hal).
#### Start of drive speed control
loadrt limit2 count=1
addf limit2.0 servo-thread # Limit spindle rpm rate of change to 300 RPM
per sec
setp limit2.0.min 0
setp limit2.0.max 3000
setp limit2.0.maxv 10 # For testing, I plan to change to around
300rpm/sec later,
# this is so I can watch with hal tools
newsig spindle-ramp float
linksp motion.spindle-speed-out => limit2.0.in
linkps limit2.0.out => spindle-ramp
newsig vfd-command float
linksp spindle-rpm-filtered => pid.3.feedback
linksp vfd-command <= pid.3.output
setp pid.3.maxoutput 10
# Tune gains to minimize following error but be slow responding to
# the huge negative spike when threading resets spindle position
# I plan to use mostly I gain to
setp pid.3.Pgain 1
setp pid.3.Igain .01
setp pid.3.Dgain 0
setp pid.3.bias 0
setp pid.3.FF0 0
setp pid.3.FF1 0
# deadband should be just over 1 count
setp pid.3.deadband 5
linksp spindle-ramp => pid.3.command
linksp motion.spindle-on => pid.3.enable
###################################
Does anyone here know what I did wrong?
Thanks!
Roger Neal
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