Hi there,
after reading the patch I have following observations:
emc2-unhome/src/emc/motion/command.c:
* you do check for homing (correctly) when unhoming a single joint, but no
check is done in the case -1 (unhome all joints) is issued
* it would be nice if you could stick to the same formatting as the rest of
the file ({} after the if (), } else { etc)
emc2-unhome/src/emc/motion/motion.h:
* you missed a comment there: + int unhome;
The rest seems ok (hope it applies).
Regards,
Alex
----- Original Message -----
From: [EMAIL PROTECTED]
To: [email protected]
Sent: Friday, February 15, 2008 4:45 PM
Subject: [Emc-developers] 'Un-home' capability
Dear fellow developers,
The attached patch file adds the ability to un-home an axis (clear its homed
flag), namely through the new [AXIS_n]VOLATILE_HOME ini file option, the
EMC_AXIS_UNHOME NML message, and the emcAxisUnhome(int axis) call. See
http://www.linuxcnc.org/irc/irc.freenode.net:6667/emc/2008-02-14.txt and
http://www.linuxcnc.org/irc/irc.freenode.net:6667/emc/2008-02-15.txt on the
discussion of "unhom*".
After applying and (re-)compiling, setting VOLATILE_HOME to 1 for any
particular axis will cause it to lose its homed flag upon ESTOP and OFF.
The syntax for the milltask API call is almost identical to its homing
counterpart. Setting the "axis" variable to n unhomes the n-th joint;
setting it to -1, unhomes all joints with the permitting ini entry. Ditto
for the NML message.
jepler suggested that the ini file permit three possible values for
VOLATILE_HOME: "never," "amplifier-off," and "estop." SWPadnos emphasized
the ability to cause unhoming from a HAL module. It should be relatively
easy to move the emcAxisUnhome calls around inside emcTaskSetState to
satisfy the former. As for the latter, an "unhome" pin could be added to
ioControl.cc (or halusr?) which, when triggered, cause it to send the
EMC_AXIS_UNHOME packet. I implemented neither of the two in my patch because
my original purpose was simply to provide the function calls upon which this
feature could be further developed.
Enjoy,
Bryant
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