Changing pid.0.Igain value in HAL file

I'm trying to change the value of Igain to Zero when the following error is less than the deadband. To do this I use the following section of code:


net Xferror axis.0.f-error => abs.1.in

net Xferrorabs abs.1.out => comp.0.in1
setp comp.0.in0 0.00005

net Xcompout comp.0.out => conv-bit-s32.0.in

net Xconvb32out conv-bit-s32.0.out => conv-s32-float.0.in

setp mult2.0.in0 [AXIS_0]I
net Xs32floatin0 conv-s32-float.0.out => mult2.0.in1

setp pid.0.Igain mult2.0.out

addf pid.0.do-pid-calcs servo-thread

net motor.00.command pid.0.output => ppmc.0.pwm.00.value



The problem is that I get an error saying "...mult2.0.out is invalid for float". I've tried linking the mult2.0.out value to pid0.Igain every way I can think of but I get some type of error any way I try.

Am I missing something obvious or can you not use a variable to assign the Igain?

Thanks for your help. I couldn't link the mult2.0.out to the tristate-float, but I was able to make the code work using tristate-float command. The following works fine:


net Xferror axis.0.f-error => abs.1.in

net Xferrorabs abs.1.out => comp.0.in1
setp comp.0.in0 0.00005

net Comp0Not not.0.in <= comp.0.out

setp tristate-float.0.in 0
setp tristate-float.1.in [AXIS_0]I

net XIgain0 tristate-float.0.enable <= not.0.out
net Comp0Not tristate-float.1.enable

net XIgain pid.0.Igain <= tristate-float.0.out
net XIgain tristate-float.1.out

#Do PID calculations
addf pid.0.do-pid-calcs servo-thread

net motor.00.command pid.0.output => ppmc.0.pwm.00.value