On Thu, Mar 3, 2011 at 8:42 PM, Jon Elson <el...@pico-systems.com> wrote:
> andy pugh wrote: > > On 3 March 2011 20:12, Igor Chudov <ichu...@gmail.com> wrote: > > > > > >> - instantiate this comp > >> - connect its motor-pos-cmd input to motor-pos-cmd of the corresponding > pid > >> - connect the comp's current-in input to the output of the PID > >> - Connect the current-out output to the DAC > >> > >> Right? > >> > > > > Exactly. > > loadrt timeout > > addf timeout.0 servo-thread > > > > > You have to be careful where you put the addf command. I think you will > need to put it in the > ppmc_load.hal file before this line : > > addf ppmc.0.write servo-thread > > The reason is if it is in the wrong place (ie. before the addf pid.xxxx > line or after the addf ppmc.0.write line, it will not be executed in the > same > servo cycle as the read encoders - calculate PID - write to DACs sequence, > and > will add a delay of one additional servo cycle to the flow of data. This > will > likely cause the servo to become unstable or at least harder to tune. > > So,you can't put all the commands in a separate file, or it will be > performed > AFTER the ppmc.0.write function. > > Jon > Yes, this is where I put it. i > > > > net timeout.0.current-in <= PID.2.out > > (etc) > > > > setp timeout.0.default-current 0 > > setp timeout.0.timeout 5 (if you want a shorter one. > > > > > > > > ------------------------------------------------------------------------------ > What You Don't Know About Data Connectivity CAN Hurt You > This paper provides an overview of data connectivity, details > its effect on application quality, and explores various alternative > solutions. http://p.sf.net/sfu/progress-d2d > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ What You Don't Know About Data Connectivity CAN Hurt You This paper provides an overview of data connectivity, details its effect on application quality, and explores various alternative solutions. http://p.sf.net/sfu/progress-d2d _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
