From 1aa14b1092148da821349a1280b8042327910766 Mon Sep 17 00:00:00 2001 From: Chris Morley Date: Thu, 5 Jun 2014 23:41:08 -0700 Subject: [PATCH] motion -add a rapid override pin allows one to override the rapid move from 0 to 100 percent. Can be connected to halui.feed-override.value to restore the behaivor of feed override controlling rapids too. --- src/emc/kinematics/tp.c | 4 ++-- src/emc/motion/control.c | 12 ++++++++++++ src/emc/motion/mot_priv.h | 1 + src/emc/motion/motion.c | 3 +++ src/emc/motion/motion.h | 1 + 5 files changed, 19 insertions(+), 2 deletions(-) diff --git a/src/emc/kinematics/tp.c b/src/emc/kinematics/tp.c index 46d563c..a8768c6 100644 --- a/src/emc/kinematics/tp.c +++ b/src/emc/kinematics/tp.c @@ -1015,9 +1015,9 @@ int tpRunCycle(TP_STRUCT * tp, long period) } // if this is rapid move, don't use feed override settings (max velocity override is still honoured) if(tc->canon_motion_type==EMC_MOTION_TYPE_TRAVERSE) { - tc->feed_override = 1.0; + tc->feed_override = emcmotStatus->net_rapid_scale; if(nexttc) { - nexttc->feed_override = 1.0; + nexttc->feed_override = emcmotStatus->net_rapid_scale; } } /* handle pausing */ diff --git a/src/emc/motion/control.c b/src/emc/motion/control.c index 313fab2..3b9e9cc 100644 --- a/src/emc/motion/control.c +++ b/src/emc/motion/control.c @@ -486,6 +486,18 @@ static void process_inputs(void) /* save the resulting combined scale factor */ emcmotStatus->net_feed_scale = scale; + /* set rapid override */ + /* read and clamp (0.0 to 1.0) adaptive feed HAL pin */ + tmp = *emcmot_hal_data->rapid_override; + if ( tmp > 1.0 ) { + tmp = 1.0; + } else if ( tmp < 0.0 ) { + tmp = 0.0; + } + /* save the resulting scale factor */ + emcmotStatus->net_rapid_scale = tmp; + + /* now do spindle scaling */ scale = 1.0; if ( enables & SS_ENABLED ) { diff --git a/src/emc/motion/mot_priv.h b/src/emc/motion/mot_priv.h index c1d7638..044e10f 100644 --- a/src/emc/motion/mot_priv.h +++ b/src/emc/motion/mot_priv.h @@ -89,6 +89,7 @@ typedef struct { hal_float_t *spindle_revs; hal_bit_t *spindle_inhibit; /* RPI: set TRUE to stop spindle (non maskable)*/ hal_float_t *adaptive_feed; /* RPI: adaptive feedrate, 0.0 to 1.0 */ + hal_float_t *rapid_override; /* RPI: rapid feedrate, 0.0 to 1.0 */ hal_bit_t *feed_hold; /* RPI: set TRUE to stop motion maskable with g53 P1*/ hal_bit_t *feed_inhibit; /* RPI: set TRUE to stop motion (non maskable)*/ hal_bit_t *motion_enabled; /* RPI: motion enable for all joints */ diff --git a/src/emc/motion/motion.c b/src/emc/motion/motion.c index 48e1bf9..26f1902 100644 --- a/src/emc/motion/motion.c +++ b/src/emc/motion/motion.c @@ -327,6 +327,8 @@ static int init_hal_io(void) *emcmot_hal_data->spindle_is_atspeed = 1; if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->adaptive_feed), mot_comp_id, "motion.adaptive-feed")) < 0) goto error; *(emcmot_hal_data->adaptive_feed) = 1.0; + if ((retval = hal_pin_float_newf(HAL_IN, &(emcmot_hal_data->rapid_override), mot_comp_id, "motion.rapid-override")) < 0) goto error; + *(emcmot_hal_data->rapid_override) = 1.0; if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_hold), mot_comp_id, "motion.feed-hold")) < 0) goto error; *(emcmot_hal_data->feed_hold) = 0; if ((retval = hal_pin_bit_newf(HAL_IN, &(emcmot_hal_data->feed_inhibit), mot_comp_id, "motion.feed-inhibit")) < 0) goto error; @@ -906,6 +908,7 @@ static int init_comm_buffers(void) emcmotStatus->feed_scale = 1.0; emcmotStatus->spindle_scale = 1.0; emcmotStatus->net_feed_scale = 1.0; + emcmotStatus->net_rapid_scale = 1.0; /* adaptive feed is off by default, feed override, spindle override, and feed hold are on */ emcmotStatus->enables_new = FS_ENABLED | SS_ENABLED | FH_ENABLED; diff --git a/src/emc/motion/motion.h b/src/emc/motion/motion.h index 435eac7..69c2d7d 100644 --- a/src/emc/motion/motion.h +++ b/src/emc/motion/motion.h @@ -610,6 +610,7 @@ Suggestion: Split this in to an Error and a Status flag register.. /* the above set is the enables in effect for new moves */ /* the rest are updated every cycle */ double net_feed_scale; /* net scale factor for all motion */ + double net_rapid_scale; /* net scale factor for all motion */ double net_spindle_scale; /* net scale factor for spindle */ unsigned char enables_queued; /* flags for FS, SS, etc */ /* the above set is the enables in effect for the -- 1.7.0.4