[EMAIL PROTECTED] wrote:
> Anyway, after asserting the enables on the two configured stepper motors, I
> now
> get the motors effectively in a run-away condition until shutdown with a
> following error.
When you say "run-away condition", do you mean the motors move without
being commanded, or otherwise somehow move out of control?
> At initialization the stepgen pins have the following values:
>
> counts 0
> enable false
> position-cmd 0
> position-fb -0
> velocity-cmd 0
> velocity-fb -0
>
> If I clear the e-stop (asssert the enable) then after shutting down with a
> following error I get:
>
> counts 1004
> enable false
> position-cmd -0.502
> position-fb -0.502
> velocity-cmd -6.25
> velocity-fb -0
>
> Is there anything other than a difference in the commanded position and the
> actual (fb) position or demanded and actual velocities which generates a
> pulse
> stream? Why is the commanded position and velocity opposit in sign with the
> fb
> position and velocity, even though both are zero?
The stepgen uses a P controller, so it should output a pulse train only
if position-cmd differs from position-fb.
velocity-cmd is its current velocity, "commanded" by the stepgen module
itself, never by a human. A better name for it would be "velocity-fb"...
I'm not sure how to debug these following errors you and Matt Shaver are
having. As I understand it, you get following errors if the trajectory
planner asks the joint to move, but the joint doesnt do it, or doesnt do
it correctly. Clearly the joint *is* moving, but maybe not how the TP
expects it to?
The TP breaks the path down into short line segments, right?
--
Sebastian Kuzminsky
Theo: "Julian? I haven't seen you in twenty years. You look good.
The picture the police have of you doesn't do you justice."
Julian: "What do the police know about justice?"
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