On 3 March 2011 16:53, Jon Elson <el...@pico-systems.com> wrote:
> I STILL don't like it. You need a HAL component that looks at commanded
> position
> (comes from axis.8.motor-pos-cmd, I think) and compares current to last
> position.
Whilst also not liking it, this custom HAL component would do the
trick: (It needs to be compiled with comp --install timeout.comp)
component timeout """Reduces motor command to a predetermied value after a
certain number of seconds of no axis motion""";
pin in float position-command-in "link to motor-pos-cmd";
pin in float current-in "link to the PID output";
pin out float current-out "link to the DAC";
param rw float timeout = 10 "timeout in seconds";
param rw float default-current = 0 "current output after timeout";
variable float old_pos;
variable float t = 0;
function _;
license "GPL";
author "Andy Pugh";
;;
FUNCTION(_){
if (old_pos != position_command_in){
t = timeout;
}
else {
t -= fperiod;
}
if (t < 0){
current_out = default_current;
}
else {
current_out = current_in;
}
old_pos = position_command_in;
}
--
atp
"Torque wrenches are for the obedience of fools and the guidance of wise men"
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