Hello all, I have some experience in CNC robotics, but im really new to HAL structure.
Im developing a servo driver, with will get the samples from the encoders and send them to the parallel port in packages, and also will get the duty cycle information from the parallel port and send it to the motors. My problem is. I need to write a "driver?" on the HAL structure to make that communication protocol that i created, with is: IN - 8 bytes of data -- lower significant part of the encoder position. motor1 IN - 8 bytes of data -- higher significant part of the encoder position. motor1 IN - 8 bytes of data -- lower significant part of the encoder position. motor2 IN - 8 bytes of data -- higher significant part of the encoder position. motor2 IN - 8 bytes of data -- lower significant part of the encoder position. motor3 IN - 8 bytes of data -- higher significant part of the encoder position. motor3 IN - 8 bytes of data -- lower significant part of the encoder position. motor4 IN - 8 bytes of data -- higher significant part of the encoder position. motor4 IN - 8 bytes of data -- lower significant part of the encoder position. motor5 IN - 8 bytes of data -- higher significant part of the encoder position. motor5 OUT - 8 bytes of PWM data to the 1st motor OUT - 8 bytes of PWM data to the 2nd motor OUT - 8 bytes of PWM data to the 3rd motor OUT - 8 bytes of PWM data to the 4th motor OUT - 8 bytes of PWM data to the 5th motor Is it easy job? and can any1 send me a tutorial about simple HAL programming. Tnx alot, Adriano. ------------------------------------------------------------------------------ Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day trial. Simplify your report design, integration and deployment - and focus on what you do best, core application coding. Discover what's new with Crystal Reports now. http://p.sf.net/sfu/bobj-july _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
