On 10 July 2012 16:49, Ralph Stirling <ralph.stirl...@wallawalla.edu> wrote:
> My question now is the best way to switch between encoders while > the carriage is moving, with minimal disturbance to the motion ... > Can I have this kind of > sequential logic implemented directly in a hal file, or do I need to go > to ClassicLadder? I think that this would be far better handled in a HAL comp than in CL. (But then I have never used CL). If you could guarantee that you would always be counting on two encoders, never 1 and never 3, then you could simply sum all the encoders together and use that as your feedback. However, that can't be guaranteed, so you need a comp. I think it would be quite simple. The comp would have its own internal count for each encoder and an accumulator. Every servo thread it would consider the counts delta of all encoders. If there is one encoder with a change in counts, use that one. if there are 2 then use the same one as last time, if there are three then use the middle one. See: http://www.linuxcnc.org/docs/html/hal/comp.html -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
