Thanks andy,
I have issues interfacing with index-enable with hal's net command. right
no I have :
net name1 mirror.0.index ppmc.0.encoder.07.index
net ppmc.0.encoder.03.position => mirror.0.actual
net name2 ppmc.0.encoder.07.position => mirror.0.mirror
and my miror.comp code is
--------------------------
*component mirror "index-enable hack";pin in bit index;pin in float
actual;pin in float mirror;pin out bit enable;pin out float
result;function_;license "GPL"; // indicates GPL v2 or later;;if(index ==
1){ result = actual - mirror; enable = 1;}*
---------------------------
I don't see why I would need a state, but more on that later.
The code work "once" when I manually execute : setp
ppmc.0.encoder.07.index-enable 1
But what I need is for ppmc.0.encoder.07.index-enable to be re-enabled at
each servo cycle.
I would also prefer ppmc.0.encoder.07.position to be reset to
ppmc.0.encoder.07.position right after, but I don't think it is possible,
so I will do this in post treatment
Anyways the plan is to capture mirror.0.out in halscope along with both
encoder positions. I should have everything I want to infer
ppmc.0.encoder.07.position's at the time my trgigger is pulsed.
the thing is, I can't seem to use index-enable with the net command. HAL
sends me errors no matter what I try.
for example:
Signal 'name3' can not add I/O pin 'ppmc.0.encoder.07.index-enable', it
already has OUT pin 'mirror.0.enable'
Signal 'name3' can not add I/O pin 'ppmc.0.encoder.07.index-enable', it
already has OUT pin 'mirror.0.enable'
while executing
"hal net name3 mirror.0.enable ppmc.0.encoder.07.index-enable"
("eval" body line 1)
invoked from within
"eval hal $what"
(procedure "showEx" line 2)
On Thu, May 17, 2018 at 9:24 AM, andy pugh <bodge...@gmail.com> wrote:
> On 17 May 2018 at 13:34, Maxime Lemonnier <maxime.lemonn...@gmail.com>
> wrote:
>
> > I would like to configure HAL to simply zero-out channel 7 when it
> receives
> > the trigger pulse, then I would write a comp that output the position at
> > which the trigger was pulsed using the delta between encoder 3 and 7.
>
> If you are writing a custom .comp then I would source the index-enable
> signal from that.
>
> It isn't clear from your description precisely when you want this to
> happen, but I imagine that choosing the conditions is also something
> easiest inside the custom component.
>
> HAL comps for jobs like this tend to be coded as a state machine:
>
> pin out signed state = 0;
> pin in float input1;
> pin in float input2;
> pin out float output;
> ...
> ;;
> switch state{
> case 0: //readiness state
> if (conditions){
> state = 1;
> index_enable = 1;
> }
> case 1: // waiting for index
> if (! index_enable){
> state = 2;
> output = input1 - input2;
> state = 2;
> }
> case 2: // we don't really need this state
> state = 0;
> }
>
>
> --
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
>
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