I have this "working" in many ways. The dial basically works, the HAL for the
buttons work. The Axis Select knob selects the axis.
But the .ini "options" don't work, specifically the filters, the Z-direction
(decrement=up??), and the accel variables.
I'm so confused, I see 5 key user elements to it and something clearly needs
cleanup. But while typing all this and taking notes, it seems to come down to
my primary problem is the item #3 here, the ini section [XHC_HB04_CONFIG],
doesn't seem to be recognized by the .tcl file lines such as:
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
I don't know how to debug .tcl code. But none of the [XHC_HB04_CONFIG] config
seems to make it to the tcl. The only reason I can make it work is when the
.hal does this:
loadusr -W xhc-hb04 -H -I xhc-hb04-layout2.cfg -s 3
I can pass SOME key command-line params to the .tcl, the critical ones. But I
can't pass the others that I need to pass.
1. An xhc-hb20.hal file I made, linked from my main .ini file. That's got
button tie-ins and all and everything I've done in there works for me and makes
sense. This file loads the tcl driver:
loadusr -W xhc-hb04 -H -I xhc-hb04-layout2.cfg -s 3
And there, the options being passed on the load line DO work. If it were up to
me, I'd forget the element #3 (described below) out of the ini file and set my
options here, however, apparently only some options can be fed
2. Inside my .ini file, I have this section which the .tcl file instructed me
to add:
[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
# controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:
goto-zero = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""
start-pause = std_start_pause
rewind = halui.program.step
This section makes NO sense to me. See, inside xhc-hb02.hal, I already have
"net rewind halui.mdi-command-04 xhc-hb04.button-rewind ", and my .ini has
"MDI_COMMAND=M2"
Should I not have ANY of this section because I use a .hal, or what? Are they
doing both, does one override the other... I just left it be, up till this
point.
Then there's:
3. Again in my main .ini file as instructed by the .tcl, this section which
DOES NOT SEEM TO WORK. Whether or not it's commented out, these params had no
effect.
[XHC_HB04_CONFIG]
threadname = servo-thread
#(optional, default: servo-thread)
layout = 2
# (optional, 1: 16 buttons | 2: 18 buttons, default: 2)
coords = x y z
# (optional, 4 max, default: xnum_joints y z a)
coefs = 1 1 1 1
# (optional, filter coefs 0 < coef < 1, default: 1 1 1 1)
#mpg_accels = 1 2 2 200
mpg_accels = 1 2 100
# (optional: reduced accelerations for all manual mode jogging)
# (in machine_units/sec/sec like
[AXIS_n]MAX_ACCELERATION)
# (this option requires: [APPLICATIONS]APP =
xhc-hb04-accels)
scales = 1 1 1
# (optional, plus/minus factors, default: 1 1 1 1)
require_pendant = no
# (optional, yes | no, default: yes)
inch_or_mm = in
# (optional, in | mm for display icon, default: mm)
jogmode = normal
# (optional, normal | vnormal | plus-minus, default: normal)
#sequence=2
# (optional, 1 | 2 | 3 | 4 | 5, default: 1)
# 1: 0.001,0.010,0.100,1.000 (typ for mm machine)
# 2: 0.001,0.005,0.010,0.020 (typ for inch machine)
# 3: 0.001,0.010,0.100
# 4: 0.001,0.005,0.010,0.020,0.050,0.100
# 5: 0.001,0.010,0.050,0.100,1.000
4. An .ini section:
[APPLICATIONS]
APP = xhc-hb04-accels
APP = monitor-xhc-hb04
Which I copied in from elsewhere, and I believe that's in order.
Danny
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