> On 11 May 2013 20:19, Lars Andersson <[email protected]> wrote:
>
>> Trying to control servo P I and D at runtime with potentiometers to
>> practise loop optimising.
> As you have seen, an underlying problem is that the Gains are IO pins.
> They used to be parameters, but it was decided that pins would be more
> useful, but then it was realised that an input pin can not change its
> own value, so that internal limiting is a problem, so they were made
> into IO pins. Which isn't necessarily better. (ref
> http://psha.org.ru/irc/%23emc-devel/2013-04-30.html#19:09:14 )
>
> The already-existing "tristate-float" component (
> http://www.linuxcnc.org/docs/html/man/man9/tristate_float.9.html ) can
> be used to make the conversion.
I tried a different approach and duplicated the pins, one IO and one IN
like this in mypid.c
retval = hal_pin_float_newf(HAL_IO, &(addr->pgain), comp_id,
"%s.Pgain", prefix);
if (retval != 0) {
return retval;
}
retval = hal_pin_float_newf(HAL_IN, &(addr->pgain), comp_id,
"%s.Pgain-in", prefix);
if (retval != 0) {
return retval;
}
It compiles correctly and loads correctly and the regulator obeys the IN
pin, but it does not reflect in the value of the IO pin.
Don't understand why? Both points to the same internal variable.
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