PnCConf rework
18 Mar 2013 09:26 #31526
by arvidb
Replied by arvidb on topic PnCConf rework
I just wanted to let you know that I'm still working on this. Much of it is ready, I "only" have to put things together!
I've learned a lot about gtk programming today; signals, treeviews etc. Also struggling with Python imports.
Maybe after next weekend I'll have something to show.
I've learned a lot about gtk programming today; signals, treeviews etc. Also struggling with Python imports.
Maybe after next weekend I'll have something to show.
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24 Mar 2013 09:04 #31786
by arvidb
Replied by arvidb on topic PnCConf rework
*sigh* But that can't be right: how do one home, say, an inverted tripod machine if homing is not synchronized?
Hmm, but then again, if such a machine is not homed (i.e. the absolute position of each joint is not known), it is impossible to do synchronized movement anyway.
Boy this is dizzying!
This would mean that one would have to use absolute feedback on a stiff hexapod machine?
Hmm, but then again, if such a machine is not homed (i.e. the absolute position of each joint is not known), it is impossible to do synchronized movement anyway.
Boy this is dizzying!
This would mean that one would have to use absolute feedback on a stiff hexapod machine?
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25 Mar 2013 08:23 - 25 Mar 2013 08:25 #31817
by arvidb
Replied by arvidb on topic PnCConf rework
Ok, so I'm slowly getting somewhere:
Hardware selection:
Joint configuration:
And this would generate a config something like this (but aligned - weird that the code tag doesn't use a monospaced font? Oh, it's just the preview that doesn't show the code section properly...):
These are actual outputs from the program, but the HAL generation was an earlier experiment and I haven't gotten it integrated with the main program yet. Glade/gtk is quite complicated, and it takes time to get where I want! Although I guess I'm getting more familiar with it all the time.
As you can see the program is a complete redesign, although very much inspired by pncconf. Actually, there's no reason why this program could only handle Mesa hardware...
Hardware selection:
Joint configuration:
And this would generate a config something like this (but aligned - weird that the code tag doesn't use a monospaced font? Oh, it's just the preview that doesn't show the code section properly...):
#*********************************************************
# AXIS X
#*********************************************************
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_5i25.0.7i77.0.1.analogena
net x-enable => pid.x.enable
net x-min => axis.0.neg-lim-sw-in
net x-max => axis.0.pos-lim-sw-in
net x-pos-cmd <= axis.0.motor-pos-cmd
net x-pos-cmd => pid.x.command
net x-index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-index-enable <=> axis.0.index-enable
net x-index-enable => pid.x.index-enable
net x-pos-rawcount <= hm2_5i25.0.encoder.00.rawcount
net x-home => axis.0.home-sw-in
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-vel-fb => pid.x.command-deriv
net x-output <= pid.x.output
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-pos-fb => pid.x.feedback
net x-pos-fb => axis.0.motor-pos-fbThese are actual outputs from the program, but the HAL generation was an earlier experiment and I haven't gotten it integrated with the main program yet. Glade/gtk is quite complicated, and it takes time to get where I want! Although I guess I'm getting more familiar with it all the time.
As you can see the program is a complete redesign, although very much inspired by pncconf. Actually, there's no reason why this program could only handle Mesa hardware...
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