Den 2021-06-14 kl. 14:48, skrev andy pugh:
On Sat, 12 Jun 2021 at 12:15, Nicklas SB Karlsson <n...@nksb.eu> wrote:
Do not find any modulo arithmetic in hal, it is very useful then waiting
for a particular angle both if value overflow or just accumulate. May be
solved by loop and modulo operator in g-code but maybe adding to
carousel component would be a better option.
One solution (though an untidy one) would be to scale the encoder
counter so that it gives the correct position as a float.
Then convert that float to a u32 with conv_float_u32
Then convert the bottom set of bits of that u32 to signals with "bitslice"
Then connect each relevant bit to the carousel comp. For a power-of-2
carousel that will automatically do the modulo calc.
It would probably work if position is scaled down to correct number of
pockets first adding an offset to get angle of the pockets correct.
Thinking about it a while I added a difference with modulo component to
hal and sequential .ngc program waiting on angle then to stop, if in the
half furthest away waiting for carousel to reach other half before
waiting to reach position. First stop with pocket 13 at correct position
and others counted in wrong direction but that should be easy to change.
.ngc program is running in a slower thread so I guess some more jitter
then waiting for input before turning off? Or it's just the interpreter
running in slower thread and commands are executed in faster thread?
I found then running servo-thread at 1kHz carousel stopped within 1/360
of at turn or so and guess slower g-code thread will be more than good
enough, think locking of carousel correct the last few degrees but have
not checked yet. Think it is good either to add support for angle sensor
in current carousel component or simply forking of a different variant
using an angle sensor. At some point I want to add a check if carousel
is rotating as supposed to because I am pretty it will brake down quite
fast if for some reason locked then running from the noise it make in
this case.
Regards Nicklas SB Karlsson
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