Hi,
I'm currently using the following patch to support incremental
jogging through halui.
Is there a better way to do this? If not, what about applying
this to GIT?
Comments welcome.
Index: src/emc/usr_intf/halui.cc
===================================================================
--- src.orig/emc/usr_intf/halui.cc 2011-06-02 22:39:06.000000000 +0200
+++ src/emc/usr_intf/halui.cc 2011-06-03 17:10:26.737853921 +0200
@@ -159,6 +159,8 @@ DONE - jogging:
halui.jog.0.minus bit
halui.jog.0.plus bit
halui.jog.0.analog float //pin for jogging the axis 0
+ halui.jog.0.inc-counts u32
+ halui.jog.0.inc-scale float
..
halui.jog.7.minus bit
halui.jog.7.plus bit
@@ -304,6 +306,8 @@ DONE: - spindle-override
ARRAY(hal_bit_t,jog_minus,EMCMOT_MAX_JOINTS+1) /* pin to jog in positive
direction */ \
ARRAY(hal_bit_t,jog_plus,EMCMOT_MAX_JOINTS+1) /* pin to jog in negative
direction */ \
ARRAY(hal_float_t,jog_analog,EMCMOT_MAX_JOINTS+1) /* pin for analog
jogging (-1..0..1) */ \
+ ARRAY(hal_u32_t,jog_inc_counts,EMCMOT_MAX_JOINTS+1) /* Incremental jogging
*/ \
+ ARRAY(hal_float_t,jog_inc_scale,EMCMOT_MAX_JOINTS+1) /* Incremental
jogging (scale) */ \
FIELD(hal_float_t,jog_deadband) /* pin for setting the jog analog deadband
(where not to move) */ \
\
FIELD(hal_s32_t,mv_counts) /* pin for the Max Velocity counting */ \
@@ -950,6 +954,10 @@ int halui_hal_init(void)
if (retval < 0) return retval;
retval = hal_pin_float_newf(HAL_IN, &(halui_data->jog_analog[joint]),
comp_id, "halui.jog.%d.analog", joint);
if (retval < 0) return retval;
+ retval = hal_pin_u32_newf(HAL_IN,
&(halui_data->jog_inc_counts[joint]), comp_id, "halui.jog.%d.inc-counts",
joint);
+ if (retval < 0) return retval;
+ retval = hal_pin_float_newf(HAL_IN,
&(halui_data->jog_inc_scale[joint]), comp_id, "halui.jog.%d.inc-scale", joint);
+ if (retval < 0) return retval;
}
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->joint_home[num_axes]),
comp_id, "halui.joint.selected.home");
@@ -1404,6 +1412,29 @@ static int sendJogCont(int axis, double
}
+static int sendJogInc(int axis, double speed, double inc)
+{
+ EMC_AXIS_INCR_JOG emc_axis_jog_msg;
+
+ if ((emcStatus->task.state != EMC_TASK_STATE_ON) || (emcStatus->task.mode
!= EMC_TASK_MODE_MANUAL))
+ return -1;
+
+ if (axis < 0 || axis >= EMC_AXIS_MAX)
+ return -1;
+
+ if (emcStatus->motion.traj.mode == EMC_TRAJ_MODE_TELEOP)
+ return -1;
+
+ emc_axis_jog_msg.serial_number = ++emcCommandSerialNumber;
+ emc_axis_jog_msg.axis = axis;
+ emc_axis_jog_msg.vel = speed / 60.0;
+ emc_axis_jog_msg.incr = inc;
+ emcCommandBuffer->write(emc_axis_jog_msg);
+
+ return emcCommandWaitReceived(emcCommandSerialNumber);
+}
+
+
static int sendFeedOverride(double override)
{
EMC_TRAJ_SET_SCALE emc_traj_set_scale_msg;
@@ -1572,6 +1603,8 @@ static void hal_init_pins()
*(halui_data->jog_minus[joint]) = old_halui_data.jog_minus[joint] = 0;
*(halui_data->jog_plus[joint]) = old_halui_data.jog_plus[joint] = 0;
*(halui_data->jog_analog[joint]) = old_halui_data.jog_analog[joint] = 0;
+ *(halui_data->jog_inc_counts[joint]) =
old_halui_data.jog_inc_counts[joint] = 0;
+ *(halui_data->jog_inc_scale[joint]) =
old_halui_data.jog_inc_scale[joint] = 0.0;
}
*(halui_data->joint_home[num_axes]) = old_halui_data.joint_home[num_axes]
= 0;
@@ -1610,6 +1643,7 @@ static void copy_hal_data(const halui_st
static void check_hal_changes()
{
hal_s32_t counts;
+ hal_u32_t ucounts;
int select_changed, joint;
hal_bit_t bit, js;
hal_float_t floatt;
@@ -1840,7 +1874,15 @@ static void check_hal_changes()
sendJogStop(joint);
old_halui_data.jog_analog[joint] = floatt;
}
-
+
+ ucounts = new_halui_data.jog_inc_counts[joint];
+ counts = (hal_s32_t)(ucounts - old_halui_data.jog_inc_counts[joint]);
+ if (counts) {
+ sendJogInc(joint, new_halui_data.jog_speed,
+ (double)*new_halui_data.jog_inc_scale * counts);
+ old_halui_data.jog_inc_counts[joint] = ucounts;
+ }
+
// check to see if another joint has been selected
bit = new_halui_data.joint_nr_select[joint];
if (bit != old_halui_data.joint_nr_select[joint]) {
--
Greetings Michael.
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