Hi Nick, As the current system stands, if you want to get rid of the hunting on the DIR lines then it seems you need the PID loop. or... If you want to get rid of the necessity to use the PID code, you can modify the PRU code that generates the step pulses.
The original EMC system MachineKit is based on was not a stepper centric system, rather a servo based system that used encoders for position feedback. Later modifications were added to allow steppers and when the system migrated to the BBB, the PRU code (which is run on another processor inside the chip) was added to generate step pulses. The complex communication between the several internal processes (running independently and at different rates) has lead to a situation where the problem with the hunting occurs. For a diagram of the different processes, look here: http://www.machinekit.io/docs/hal/rtcomps/#sec:Stepgen Jeff On Thursday, May 11, 2017 at 5:08:33 AM UTC-7, Nick Collier wrote: > > @Alexander Rössler > > I am new to Machinekit. I don't think I have that Python file. In lib I > don't have any python directory. I can't seem to find an fdm directory on > my system. > > I just have a fresh install of this image with no modifications. > > https://rcn-ee.com/rootfs/bb.org/testing/2017-02-12/machinekit/bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz > > > Btw why do I need a PID loop with a stepper motor? Could I not just remove > the PID loop? > > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
