Andy, this is REALLY AWESOME.
I just totally LOVE this mailing list!
I will definitely try to get it to work, I figure a 10 second timeout should
do it.
To use it, I would
- instantiate this comp
- connect its motor-pos-cmd input to motor-pos-cmd of the corresponding pid
- connect the comp's current-in input to the output of the PID
- Connect the current-out output to the DAC
Right?
THANK YOU!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
i
On Thu, Mar 3, 2011 at 1:45 PM, andy pugh <bodge...@gmail.com> wrote:
> On 3 March 2011 16:53, Jon Elson <el...@pico-systems.com> wrote:
>
> > I STILL don't like it. You need a HAL component that looks at commanded
> > position
> > (comes from axis.8.motor-pos-cmd, I think) and compares current to last
> > position.
>
> Whilst also not liking it, this custom HAL component would do the
> trick: (It needs to be compiled with comp --install timeout.comp)
>
> component timeout """Reduces motor command to a predetermied value after a
> certain number of seconds of no axis motion""";
>
> pin in float position-command-in "link to motor-pos-cmd";
> pin in float current-in "link to the PID output";
> pin out float current-out "link to the DAC";
> param rw float timeout = 10 "timeout in seconds";
> param rw float default-current = 0 "current output after timeout";
> variable float old_pos;
> variable float t = 0;
> function _;
> license "GPL";
> author "Andy Pugh";
>
> ;;
>
> FUNCTION(_){
> if (old_pos != position_command_in){
> t = timeout;
> }
> else {
> t -= fperiod;
> }
>
> if (t < 0){
> current_out = default_current;
> }
> else {
> current_out = current_in;
> }
>
> old_pos = position_command_in;
> }
>
>
>
> --
> atp
> "Torque wrenches are for the obedience of fools and the guidance of wise
> men"
>
>
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