Hi!,
I'm thinking about implementing a Real-Time hardware in the loop simulation
of our hexaglide (http://www.imac.unavarra.es/~cnc).
The idea is to implement a HAL module that does a direct dynamical
simulation of the robot, that gives as output the system state,
in terms of the outputs given by the PID.
The module is intended to allow tuning of the simulated machine, new control
algorithms and new homing strategies, using the real Hardware (PC+EMC). So
the setup will be as close to the reality as possible and then a great
number of errors can be avoided.
To make this element as interesting as possible, I want also to implement
not only the dynamics, but also the encoder interfaces and switch limit
interfaces, so that as close to real as possible situations can be dealt
with.
The approach I intend to follow is to start from the MOTENC-100 HAL
interface module as it contains a pretty general interface, and remove from
it all interfaces to the real hardware while keeping the rest of the
functionality. Then I'll substitute the feedback from the real hardware with
calculated one, for the inputs I'm using in my real setup.
I'm pretty new to this so any suggestions are welcome, particularly those
that can same time to me.
Achieving Real Time performance for a complex machine can be difficult, so
if I can use the whole setup without running it in Real-Time
it wold be still acceptable, at least in a debugging phase.
So I'm curious about simulation mode (--enable-simulator). I see that EMC
can be compiled so that it can be run as a simulator in Non-Real-Time. Can
then standard HAL modules be used?. In other terms: if I develop my project
for Real-Time, can I expect to be able to run it in Non-Real-Time simulated
EMC without any changes or caveats?. Should I have to consider any special
things for this?.
Thanks,
Javier
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