halui.max-speed decrease/increase ... never go to right value

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19 Jan 2017 16:51 - 07 Apr 2017 13:53 #86168 by bkt
With my custom com I try to modify via modbus max-velocity ... in order to try these I send via modbus the % value of maxvel needed ... I use a qt gui with slider so I can choose step of 10% and send 10 or 20 or 30 or.....
Halui.max-velocity.scale is fixed to 16.2 in hal file ... and my max halui.max-velocity.value is 1620 ..... so 10 step of changing ...
In my custom comp scan halui.max-velocity.value and convet it on actual percentage of max velocity, if my register change ...comparing the new value of the register with the value percentage of halui, if greater ......
halui.max-velocity.increase = 1

if it is less ....
halui.max-velocity.decrease = 1

but nothing appens ...

after this I tried to cycle (halui.max-velocity.decrease 1 and than halui.max-velocity.decrease 0) a number of times corresponding to step .... but nothing happens

regards
Miki
Last edit: 07 Apr 2017 13:53 by bkt.

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19 Jan 2017 20:39 #86193 by andypugh
Replied by andypugh on topic halui.max-speed ...
Are you sure that
halui.max-velocity.value
Doesn't change? You might need a halmeter on it to see it change.
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20 Jan 2017 09:05 #86232 by bkt
Replied by bkt on topic halui.max-speed ...
I use show hal configuration and check all pin halui.max-velocity.xxxxx ... i see increase or decrease pin flashing (depends on the command) but .value pin is fixed to 1620 (my real max value....).

I must select other pin ? I try to select:
first test
if change value first halui.max-velocity.direct-value = 1
than halui increase or decrease pin 1 and than 0 (nr. of time depending of increase/decrease value)
than halui.max-velocity.direct-value = 0
second test
if change value these time not use at all halui.max-velocity.direct-value , but only
than halui increase or decrease pin 1 and than 0 (nr. of time depending of increase/decrease value)
than halui.max-velocity.direct-value = 0

first test: halui.max-velocity.value go to value 1 and than not change at all .... but sometime is fixed to 1620
second test: halui.max-velocity.value is everytime fixed to 1620

I need to select some other halui.pin??

regards
Giorgio

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21 Jan 2017 11:34 #86348 by bkt
Replied by bkt on topic halui.max-speed ...
using halmeter is the same ...

Regards
Giorgio

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21 Jan 2017 12:00 #86351 by andypugh
Replied by andypugh on topic halui.max-speed ...
It works for me


Unless I am misunderstanding the problem description?
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23 Jan 2017 13:01 - 23 Jan 2017 13:03 #86475 by bkt
Replied by bkt on topic halui.max-speed ...
i try to use pyvcp pushbutton ....
net 1 pyvcp.push-one  =>   halui.max-velocity.increase  or2.1.in0
net 2 pyvcp.push-two  =>   halui.max-velocity.decrease  or2.1.in1
net 3 or2.out   =>   halui.max-velocity.direct-value

and I see the halui.max-velocity.value goto 59,9 (from 97200) ... so I try these:
net 1 pyvcp.push-one  =>   halui.max-velocity.increase  
net 2 pyvcp.push-two  =>   halui.max-velocity.decrease  

same result.

So I try to observe other halui.max-velocity pin .... and halui.max-velocity.count-enable is all time ON .... I use a std hal file as it output from pnnconfig .... and I use external MPG but I use it only in teleop mode .... in joint and automode is disable .... but halui.max-velocity.count-enable is always ON. Is normal?? for disable it I must disconnect joint.selected-count pin??

Regards
Giorgio
Last edit: 23 Jan 2017 13:03 by bkt.

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23 Jan 2017 13:16 #86476 by andypugh
Replied by andypugh on topic halui.max-speed ...
I am pretty sure that you do not want to use "direct value" at all.

with "direct value" set to zero any change in mpg counts or toggling of increase / decrease will cause the "value" pin to increase or decrease by "scale"

With "direct value" set to 1 the "value" pin will take the actual value of the mpg counts * scale.

You need to leave "direct value" set to zero, and use the "count-enable" pin if you want to disable the MPG.
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23 Jan 2017 13:17 - 23 Jan 2017 13:20 #86478 by bkt
Replied by bkt on topic halui.max-speed ...
sorry ... I correct my post ...
Last edit: 23 Jan 2017 13:20 by bkt.

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23 Jan 2017 13:24 - 23 Jan 2017 13:28 #86480 by bkt
Replied by bkt on topic halui.max-speed ...
But mu count-enable pin is all time set to "1" ... and in these case I not wont to use mpg.

I try to use MPG only in teleop(and these obviusly work fine) .... but in automode I woult to use halui.increase and decrease value without use MPG value at all .... so I think the correct way is these right?:
setp halui.max-velocity.scale 16.2
setp halui.max-velocity.direct-value 0
net 1 pyvcp.push-one  =>   halui.max-velocity.increase
net 2 pyvcp.push-two  =>   halui.max-velocity.decrease

regards
Giorgio

P.S. the same ....
Last edit: 23 Jan 2017 13:28 by bkt.

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23 Jan 2017 18:17 - 23 Jan 2017 18:17 #86493 by bkt
Replied by bkt on topic halui.max-speed ...
setp halui.max-velocity.scale 16.2
setp halui.max-velocity.direct-value 0
net 1 pyvcp.push-one  =>   halui.max-velocity.increase or2.5.in0
net 2 pyvcp.push-two  =>   halui.max-velocity.decrease or2.5.in1
net 3 or2.5.out           => halui.max-velocity.count-enable

These is the right sotlution??

Tomorrow I test it ... but my halui.max-velocity.count-enable is set to "1" from mi hal file I suppose ....

Regards
Giorgio
Last edit: 23 Jan 2017 18:17 by bkt.

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