2012/3/4 Peter C. Wallace <[email protected]> > >>> I found sum2 description. That's what I added to custom.hal: > >>> > >>> loadrt sum2 count=1 > >>> addf sum2.0 servo-thread > >>> setp sum2.0.gain0 -1 > >>> net sum2.0.in0 <= hm2_7i43.0.encoder.00.position > >>> net sum2.0.in1 <= hm2_7i43.0.encoder.01.position > >>> > >>> But, there's an error: > >>> custom.hal:6: Pin 'hm2_7i43.0.encoder.00.position' was already linked > to > >>> signal 'x-pos-fb' > >>> > >>> So, how can I use hm2_7i43.0.encoder.00.position and keep its other > >>> connections? > >> > >> Use the x-pos-fb net instead of the hardware pin? > >> > >> net sum2.0.in0 <= x-pos-fb > >> > > > > It won't work either: > > > > custom.hal:6: Pin 'x-pos-fb' does not exist > > > > Andrew > > > x-pos-fb should exist as it was created by the net command that assigned > the x-pos-fb signal the encoder position value: > > net x-pos-fb <= hm2_7i43.0.encoder.00.position >
Tried many versions, and at last this works: net x-pos-fb => sum2.0.in0 net y-pos-fb => sum2.0.in1 Thanks for your help! Another question: how can I watch encoder index pulse? Which pin is it? Andrew ------------------------------------------------------------------------------ Virtualization & Cloud Management Using Capacity Planning Cloud computing makes use of virtualization - but cloud computing also focuses on allowing computing to be delivered as a service. http://www.accelacomm.com/jaw/sfnl/114/51521223/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
