On 24 June 2010 15:03, Neil Baylis <[email protected]> wrote: > If changing/removing some unrelated line of code fixes a problem, then I > usually suspect one of two things: a) It's a race condition, and you changed > the timing, or b) You changed the memory layout, and corruption (e.g. due to > wild pointer) that was occurring at a vital location is now occurring at an > innocuous location.
I have been up till 2am or later for about the last week staring at the same 200 lines of code, and I am losing heart. Could somebody else look at it please ( http://www.pastebin.org/357256 ) and see if you can spot where I have a pointer wrong? (or, indeed, where I might be causing a race condition). It is probably worth reiterating that it works exactly as expected on a sim configuration. Note that line 53 is commented out as that causes the stepgen.0.feedback to drift. (even with the stepgen.0.position-dmd left unconnected in HAL. All the more odd as the C axis doesn't have a stepgen, I only included it so that the AXIS preview would look right) I am printing the joint positions as they come back into control.c from from inversekins, but as fowardkins is running all the time I am (hopefully) only printing that if it comes back as a NaN and I am not seeing that. (I am assuming that the RT delay is not the problem, that is because I need the SMI patch, but that seems to disappear from rtapi.conf every time you re-compile, and I can't be bothered putting it back) Unrecognized line skipped: POC FMS LEN DIAM COMMENT RTAPI: ERROR: Unexpected realtime delay on task 1 This Message will only display once per session. Run the Latency Test and resolve before continuing. Unexpected realtime delay: check dmesg for details. j0 -0.001341 j1 -0.001341 j2 -0.001162 j3 0.000018 j4 0.000000 j5 3.141587 emc/task/taskintf.cc 611: Error on axis 0, command number 184 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.000358 joint 0 following error j0 140.260302 j1 140.260302 j2 -0.008184 j3 -106.717689 j4 0.777232 j5 3.141547 emc/task/taskintf.cc 611: Error on axis 0, command number 202 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.000537 joint 0 following error j0 101.772044 j1 101.772044 j2 -0.002109 j3 -10.853862 j4 0.533877 j5 3.141572 emc/task/taskintf.cc 611: Error on axis 0, command number 220 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.000716 joint 0 following error j0 101.770702 j1 101.770702 j2 -0.003164 j3 -10.853880 j4 0.533877 j5 3.141562 emc/task/taskintf.cc 611: Error on axis 0, command number 238 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.000896 joint 0 following error j0 101.769361 j1 101.769361 j2 -0.004218 j3 -10.853898 j4 0.533877 j5 3.141552 emc/task/taskintf.cc 611: Error on axis 0, command number 256 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.001075 joint 0 following error j0 101.768020 j1 101.768020 j2 -0.005273 j3 -10.853916 j4 0.533877 j5 3.141542 emc/task/taskintf.cc 611: Error on axis 0, command number 274 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.001254 joint 0 following error j0 101.766679 j1 101.766679 j2 -0.006328 j3 -10.853934 j4 0.533877 j5 3.141532 emc/task/taskintf.cc 611: Error on axis 0, command number 292 Exceeded positive soft limit on joint 0 abs_ferror = nan and ferror_limit = nan. joint = -0.001433 joint 0 following error -- atp ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
