The Xylotex config was very helpfull. Thanks :) Den lördag 5 november 2016 kl. 17:57:15 UTC+1 skrev Jeff Pollard: > > > Hi, > > Check the Xylotex hal file in the ARM/BeagleBone directory for an > example of using PID to get rid of the hunting problem on the DIR line. > > Jeff > > > On Saturday, November 5, 2016 at 7:01:30 AM UTC-7, Charles Steinkuehler > wrote: >> >> On 11/5/2016 8:11 AM, Johan Jensen wrote: >> > >> > _4. After completing the first jog command (+/- does not matter), the >> DIR signal >> > starts to oscillate between 0V and 4V continuously. __Not expected._ >> > 5. If I use "disable motors" in Machinekit the DIR signal stops >> oscillating and >> > goes back to 0V. >> > >> > Any ideas on how to correct this would be greatly appreciated. Thanks. >> >> This is "hunting" where the PRU driven step/dir generator is >> oscillating back and forth (by a fraction of a step) around the set >> position point due to the two asynchronous timebases (ARM CPU core and >> PRU stepgen) and the ARM interrupt latency/jitter. >> >> If this is causing you problems, you could add a deadband to the >> hal_pru_generic stepgen driver (PR welcome!), or switch to using a >> standard HAL PID control (with the PRU stepgen in velocity mode) >> instead of the fairly simplistic PID loop found in the hpg driver. >> There are some examples of configurations using the HAL PID + steppers >> for hostmot2 (Mesa) hardware, and I think there have been some for the >> BeagleBone if you dig through the group archives. >> >> A PR for an example BegleBone configuration using HAL pid components >> would also be welcome! >> >> -- >> Charles Steinkuehler >> [email protected] >> >
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