Implement incremental jogging in halui
This implements incremental jogging in halui by providing and
increment selection pin and two direction pins per joint.
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 2011-06-04 20:40:28.382770885 +0200
@@ -159,12 +159,21 @@ 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.increment float
+ halui.jog.0.increment-plus bit
+ halui.jog.0.increment-minus bit
..
halui.jog.7.minus bit
halui.jog.7.plus bit
halui.jog.7.analog float //pin for jogging the axis 7
+ halui.jog.7.increment float
+ halui.jog.7.increment-plus bit
+ halui.jog.7.increment-minus bit
halui.jog.selected.minus bit
halui.jog.selected.plus bit
+ halui.jog.selected.increment float
+ halui.jog.selected.increment-plus bit
+ halui.jog.selected.increment-minus bit
DONE - tool:
halui.tool.number u32 //current selected tool
@@ -304,6 +313,9 @@ 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_float_t,jog_increment,EMCMOT_MAX_JOINTS+1) /* Incremental
jogging */ \
+ ARRAY(hal_bit_t,jog_increment_plus,EMCMOT_MAX_JOINTS+1) /* Incremental
jogging, positive direction */ \
+ ARRAY(hal_bit_t,jog_increment_minus,EMCMOT_MAX_JOINTS+1) /* Incremental
jogging, negative direction */ \
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 +962,12 @@ 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_float_newf(HAL_IN,
&(halui_data->jog_increment[joint]), comp_id, "halui.jog.%d.increment", joint);
+ if (retval < 0) return retval;
+ retval = hal_pin_bit_newf(HAL_IN,
&(halui_data->jog_increment_plus[joint]), comp_id,
"halui.jog.%d.increment-plus", joint);
+ if (retval < 0) return retval;
+ retval = hal_pin_bit_newf(HAL_IN,
&(halui_data->jog_increment_minus[joint]), comp_id,
"halui.jog.%d.increment-minus", 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");
@@ -960,6 +978,12 @@ int halui_hal_init(void)
if (retval < 0) return retval;
retval = hal_pin_bit_newf(HAL_IN, &(halui_data->jog_minus[num_axes]),
comp_id, "halui.jog.selected.minus");
if (retval < 0) return retval;
+ retval = hal_pin_float_newf(HAL_IN,
&(halui_data->jog_increment[num_axes]), comp_id,
"halui.jog.selected.increment");
+ if (retval < 0) return retval;
+ retval = hal_pin_bit_newf(HAL_IN,
&(halui_data->jog_increment_plus[num_axes]), comp_id,
"halui.jog.selected.increment-plus");
+ if (retval < 0) return retval;
+ retval = hal_pin_bit_newf(HAL_IN,
&(halui_data->jog_increment_minus[num_axes]), comp_id,
"halui.jog.selected.increment-minus");
+ if (retval < 0) return retval;
retval = halui_export_pin_IN_float(&(halui_data->jog_speed),
"halui.jog-speed");
if (retval < 0) return retval;
retval = halui_export_pin_IN_float(&(halui_data->jog_deadband),
"halui.jog-deadband");
@@ -1404,6 +1428,29 @@ 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;
@@ -1572,11 +1619,17 @@ 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_increment[joint]) =
old_halui_data.jog_increment[joint] = 0.0;
+ *(halui_data->jog_increment_plus[joint]) =
old_halui_data.jog_increment_plus[joint] = 0;
+ *(halui_data->jog_increment_minus[joint]) =
old_halui_data.jog_increment_minus[joint] = 0;
}
*(halui_data->joint_home[num_axes]) = old_halui_data.joint_home[num_axes]
= 0;
*(halui_data->jog_minus[num_axes]) = old_halui_data.jog_minus[num_axes] =
0;
*(halui_data->jog_plus[num_axes]) = old_halui_data.jog_plus[num_axes] = 0;
+ *(halui_data->jog_increment[num_axes]) =
old_halui_data.jog_increment[num_axes] = 0.0;
+ *(halui_data->jog_increment_plus[num_axes]) =
old_halui_data.jog_increment_plus[num_axes] = 0;
+ *(halui_data->jog_increment_minus[num_axes]) =
old_halui_data.jog_increment_minus[num_axes] = 0;
*(halui_data->jog_deadband) = 0.2;
*(halui_data->jog_speed) = 0;
@@ -1840,7 +1893,19 @@ static void check_hal_changes()
sendJogStop(joint);
old_halui_data.jog_analog[joint] = floatt;
}
-
+
+ bit = new_halui_data.jog_increment_plus[joint];
+ if (bit != old_halui_data.jog_increment_plus[joint]) {
+ if (bit)
+ sendJogInc(joint, new_halui_data.jog_speed,
new_halui_data.jog_increment[joint]);
+ }
+
+ bit = new_halui_data.jog_increment_minus[joint];
+ if (bit != old_halui_data.jog_increment_minus[joint]) {
+ if (bit)
+ sendJogInc(joint, new_halui_data.jog_speed,
-(new_halui_data.jog_increment[joint]));
+ }
+
// 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]) {
@@ -1888,6 +1953,20 @@ static void check_hal_changes()
old_halui_data.jog_plus[num_axes] = bit;
}
+ bit = new_halui_data.jog_increment_plus[num_axes];
+ js = new_halui_data.joint_selected;
+ if (bit != old_halui_data.jog_increment_plus[num_axes]) {
+ if (bit)
+ sendJogInc(js, new_halui_data.jog_speed,
new_halui_data.jog_increment[num_axes]);
+ }
+
+ bit = new_halui_data.jog_increment_minus[num_axes];
+ js = new_halui_data.joint_selected;
+ if (bit != old_halui_data.jog_increment_minus[num_axes]) {
+ if (bit)
+ sendJogInc(js, new_halui_data.jog_speed,
-(new_halui_data.jog_increment[num_axes]));
+ }
+
for(int n = 0; n < num_mdi_commands; n++) {
if (check_bit_changed(new_halui_data.mdi_commands[n],
old_halui_data.mdi_commands[n]) != 0)
sendMdiCommand(n);
--
Greetings Michael.
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