Lagunmatic 3516-SX Retrofit

One challenge is that as the spindle passes the targeted angle, it thinks it has fulfilled the orient and disables the orient enable/position PID and the spindle then drifts off target.

Maybe debounce the spindle-oriented signal so the spindle has to be in-position for a certain length of time.

The other way might be to require spindle in-position _and_ velocity=0 (or close)

I'm using the edge component from your spindle.hal file. Does edge give me this type of time control?

I can see how adding an ADD test with position and velocity. I haven't seen this discussion come up anywhere, seems like something that would have been solved already

I added an and2 component and used that to force the orientation remain enabled until both the spindle velocity is near zero and the spindle is near commanded angle.

The logic works - so thanks for the suggestion andy. Although it can take 5-10 seconds of searching for the spindle to lock on. I played with the PID gain values a bit but I probably need a more methodical way of tuning than just random guesses/observations.

Try using Halscope (trigerred from orient enable) to compare the position, target and velocity.
If it takes too long to get to position try more P, if it gets there rapidly then takes a while to settle, try less P. If it takes a long time to pull in to final position then add a little I.

Had about an hour to toy around with this tonight - first time in weeks. I had some success getting halscope to show me signals, but no real progress on the PID.

Also my zero point is whatever the position the spindle is in when my configuration boots. I was under the impression it should reset to zero once the index is seen. Thoughts?