Thats exactly the point.I found it ready from my previous fellow student and i must improve it.The code doesnt give commands to all motors at once. And there is also a special hand.It has 2 motors which work in cooperation and when they have same direction is pitch move and when they have different is roll move. So for roll and pitch work with same motors so they must not work at once for every movement.
The hal code contains 1mux (with hex numbers as inputs) and 4mux (2 mux for each board, 1 for dir and 1 for steps).The first mux has specific hex numbers in order to give address in other muxes and feedback to itsself. The inputs of 4 muxes are steps and direction of motors which are controlled of each board(each board controls until 3 motors). The problem is that in Greece we have Easter and i will be with robot at 6/5/2016. Quoting Nicklas Karlsson <[email protected]>: > On Mon, 25 Apr 2016 15:52:57 +0300 > [email protected] wrote: > >> i can send you the whole hal code if you want. I dont know if it is >> correct to send it here as an attachment or somewhere else (for the >> rules of emc-users list). >> There are 2 boards. Each board controls up 3 servo motors. But each >> board has just one pin for steps and one pin for direction. So with >> one bitslider and one mux the hal code chooses for which motor is the >> dir and steps each time. The choice is done with a specific row of hex >> numbers. > > A mux for the step must be a problem then controlling synchronized > motion. How do you plan to keep several several servo motors running > smoothly at once? > > ------------------------------------------------------------------------------ > Find and fix application performance issues faster with Applications Manager > Applications Manager provides deep performance insights into > multiple tiers of > your business applications. It resolves application problems quickly and > reduces your MTTR. Get your free trial! > https://ad.doubleclick.net/ddm/clk/302982198;130105516;z > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ Find and fix application performance issues faster with Applications Manager Applications Manager provides deep performance insights into multiple tiers of your business applications. It resolves application problems quickly and reduces your MTTR. Get your free trial! https://ad.doubleclick.net/ddm/clk/302982198;130105516;z _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
