Hi,
I'm trying to control an axis position using an user space Python
script, but I don't relay understand the Python hal library.
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So, I want to use Python to periodically set the command position of an
axis (3 in my case) based on a sensor read out.
To do so I disconnected axis.3.motor-pos-cmd from emcmot.03.pos-cmd by
removing these lines from my .hal file:
net emcmot.03.pos-cmd <= axis.3.motor-pos-cmd
net motor.03.pos-fb <= hpg.stepgen.03.position-fb
I kept these:
net emcmot.03.pos-cmd => hpg.stepgen.03.position-cmd
net motor.03.pos-fb => axis.3.motor-pos-fb
Now I manged to set emcmot.03.pos-cmd by calling halcmd from Python:
msg = Popen('halcmd sets emcmot.03.pos-cmd {:f} '.format(newpos),
shell=True, stdout=PIPE).stdout.read()
This works as expected and changes the command position, the axis starts
to move to the new position.
Now I'd like to do the same using the Python HAL interface and get rid
of the shell command.
I can create a new HAL component and a new pin but how can I access the
existing signal? Any idea where I night be able to find an example?
See you
Florian
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