Greetings and Merry Christmas to all; Putting the near finishing touches on the hal file for the new treatment of a two scale encoder last night I noticed that rigid tapping wasn't doing as it should, like the spindle reversal wasn't near completely done, so it looked like I was feeding motion.spindle-revs from the wrong place, so I've fixed that. With this:
# hook up position, after scaleing for gear change, # to motion for rigid tapping, two tally switches on knob # control the mux4pos.sel 1 and 2 net pos_source <= hm2_5i25.0.encoder.00.position => scale_pos.in net pos_source => mux4pos.in1 net scaled_pos_s <= scale_pos.out => mux4pos.in2 net position_scaled <= mux4pos.out => motion.spindle-revs So that position is scaled by the gear switches. But generally, we want as much of this as practical, to fall thru in a single servo-thread cycle. Nyquist feedback theory and all that. >From the man page: Pin names starting with "joint" or "axis" are are read and updated by the motion-controller function. But "motion" itself raises some unique (to me) questions, because it handles both input and output. So where is the ideal position in the addf list for these two functions: addf motion-command-handler servo-thread addf motion-controller servo-thread This is the G0704 with a 5i25 interface, both p3 and p2 well filled up, if that makes a diff. But this is so basic it shouldn't. If the man page statement is accurate, then motion itself is responsible for a 1 thread cycle delay any place you put it. Seems to me it should have separate read status at the top of the list, right after the 5i25 read and a write function after the rest of lcnc has done its thing, then a separate write function at the bottom of the list. Or does it make decisions as the data comes in, and the last in the list: I can make an argument with myself (thats not hard at all) that the above two functions ought to be right above this. addf hm2_5i25.0.write servo-thread which updates it all except the watchdog pet, the last in the list. Thanks everybody. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
