Yet again you had me scratching my head.
"state" is a name used internally by comp, so you get weird compile
errors when you also use it for a parameter name. I changed the
name to "state_" through the whole file, and also fixed a few other
typos. You can find my "corrected" version below.
Jeff
component turret "This component controls the turret hardware for Kirk
Wallace's Hardinge HNC turret. It moves the turret to the last T word value
entered. (Invoked by M6)";
pin in bit tool_change "A .hal file should connect this to
iocontrol.X.tool-change.";
pin in bit match "A .hal file should connect this to s32equal.X.out which
should be the result of a check for a match between the requested and current
tool.";
pin out bit tool_changed "A .hal file should connect this to
iocontrol.X.tool-changed to indicate to EMC when the position change is
complete.";
pin out bit seek "Connect this pin via .hal file to the turret rotate solenoid
signal.";
pin out bit stop "Connect this pin via .hal file to the turret stop solenoid
signal.";
param rw s32 state_ "This parameter holds the value of the current state of the
turret change process; idle, seeking, stopping, parking.";
param rw s32 settle "This parameter holds the initial value and then the count
down of servo periods to allow settling of the turret mechanism before invoking
next state proceedure.";
param r s32 stop_settle "This is the initial settle time in servo periods
between activating the stop solenoid and when the turret comes to rest.";
param r s32 park_settle "This is the initial settle time in servo periods
between deactivating the turret rotate solenoid and when the turret descends to
the park position.";
function _ nofp;
;;
MODULE_LICENSE("GPL");
FUNCTION(_) {
if (tool_change) {
if (!match) {
switch (state_) {
case 1:
seek=1;
state_=2;
break;
case 2:
if (match) {
stop=1;
settle=stop_settle;
state_=3;
}
break;
case 3:
--settle;
if (settle<=0) {
seek=0;
settle=park_settle;
state_=4;
}
break;
case 4:
--settle;
if (settle<=0) {
stop=0;
state_=1;
tool_changed=1;
}
break;
default:
state_=1;
break;
}
}
}
}
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