On Thu, 2007-08-23 at 18:13 -0400, Stephen Wille Padnos wrote:
... snip
Just using wsum made a big difference in the shell script. I was
consistently just one tool position off with the rotate direct to
station routine, and it only gets better from here.
> If the
> turret can't move in both directions, then you can do the whole thing
> with HAL components - no classicladder needed. You'll have to write a
> simple component to compare two s32 numbers (strange but true - there's
> an 8-bit pattern match with cascade input component, but no integer
> comparison :) ) Look at something like xor2.comp for an example of a
> simple .comp component.
Like this?
~~~~~ s32equal.comp ~~~~~
component s32equal "Check if two s32's are equal";
pin in s32 in0;
pin in s32 in1;
pin out bit out;
function _ nofp;
license "GPL";
;;
FUNCTION(_) {
if (in0 == in1)
out = 0;
else
out = 1;
}
~~~~~ s32equal.comp ~~~~~
then recompile EMC or just the component?
> use debounce / weighted_sum to get a stable position reading (current_tool)
> use tool_change AND NOT (requested_tool == current_tool) to enable the
> turret to index
> (AND and NOT are both HAL components already, and there are other logic
> components)
>
> I think that's about it. Another option is to just write a .comp to do
> it all - take in 4 bits, the requested tool number, and the
> tool-prep/tool-change signals, output tool_prepped/tool_changed and
> turret controls.
Then forget the M101 and tie into the pins used by M6, as nature had
intended.
> The comp preprocessor really helps make this kind of
> HAL component easy to write.
>
> - Steve
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