Kirk Wallace wrote:
>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 ~~~~~
>
>
or
FUNCTION(_) {
out = (in0 == in1);
}
The result is a boolean, after all :)
This also eliminates potential problems with false being 0, nonzero, 1,
not 1, -1, etc.
I think you can install a comp with an incantation like comp --install
mycomp.comp, but don't quote me on that. Otherwise, a recompile should
pick up the new comp if it's in the right directory (hal/components is
one such directory).
- Steve
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