Hello again!
2010/12/20 Viesturs Lācis <[email protected]>:
> 1) what is the reason for EMC to go to joint mode, when selecting MDI?
> is that intended behavior or a bug?
Please, could anyone comment on this matter?
> 2) how do I fix that EMC does not return to teleop mode, when going
> from MDI to manual mode, when I use and2.0 module? Should I add a line
> to reset and2.0.out pin?
I "solved" it with customized mux2 component and HAL file. The problem
now is that EMC freezes for a second or two, when I switch from Manual
control to MDI or vice versa. It happens on random ocassions in about
70-80% of clicks on one of the tabs. Any ideas, what might be the
cause?
Here are contents of mux2bit.comp and autoworld.hal files, if anyone
is interested:
component mux2bit "Forward input value, if sel is false, otherwise
output is false";
pin in bit sel;
pin out bit out "Follows the value of in if sel is FALSE, and out is
FALSE if sel is TRUE";
pin in bit in;
function _;
license "GPL";
;;
FUNCTION(_) {
if(sel) out = 0;
else out = in;
}
# This HAL file is for automatic switching to world mode,
# once all joints are homed and after switching from MDI to Manual control
loadrt and2
loadrt mux2bit
addf and2.0 servo-thread
addf mux2bit.0 servo-thread
net and2in0 and2.0.in0 <= axis.4.homed
net and2in1 and2.0.in1 <= axis.5.homed
net a2-to-mux2 and2.0.out => mux2bit.0.in
net mux2sel mux2bit.0.sel <= halui.mode.is-mdi
net mux2out mux2bit.0.out => halui.mode.teleop
Viesturs
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