I just committed mostly working stepgen.maxvel & stepgen.maxaccel code
to the TRUNK.
Here's a trace of it moving a stepper around:
<http://highlab.com/~seb/emc2/hm2-0.10-stepgen.png>
The stepgen params are visible under the halscope window: steplen and
stepspace are 25,000 ns each, dirsetup is 200 ns, and dirhold is 0.
That waveform gives a max rate of 20,000 steps/second.
position_scale is 1600, which is the number of (micro) steps per
revolution of my stepmotor, so my position units are "revolutions".
maxvel is 10 rps and maxaccel is 50 rps^2.
There is a discrepancy between velocity-cmd (which is what the driver is
asking the FPGA for) and velocity-fb (which is the driver's estimate of
actual speed based on feedback from the FPGA). I think it's at least
partially due to the realtime function's "period" being the thread's
nominal period instead of the actual wallclock time between
measurements. It gets position-fb correctly despite the velocity confusion.
If maxaccel is too high it can overshoot its position-cmd slightly and
then immediately correct itself. I'll try to fix this, RSN.
--
Sebastian Kuzminsky
Computer Science for life, that's my direction
Instead of b-balls, my homies throw exceptions -- MC Plus+
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