Yannis wrote: Hi
the A display issue solved
the problem now is to connect the y1 motor to the mesa board i try to copy the y (joint1) and edit the values
with no success
what i missing here?
You are close, but you need to edit things a bit more.
The second motor needs its own PID component. In the file you showed us the Y1 axis is trying to link to the Y PID.
You can, if you want, use the same PID gains for both sides of the gantry. This is likely to be correct and means you can't mis-match them.
I suggest, for clarity:
Code:
...
loadrt pid names=pid.x,pid.y0,pid.y1,pid.z,pid.s
...
#*******************
# JOINT Y0
#*******************
setp pid.y0.Pgain [JOINT_1]P
setp pid.y0.Igain [JOINT_1]I
...
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [JOINT_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT
net y0-output => hm2_5i25.0.7i77.0.1.analogout1
net y0-pos-cmd joint.1.motor-pos-cmd
net y0-enable joint.1.amp-enable-out
#*******************
# JOINT Y1
#*******************
setp pid.y1.Pgain [JOINT_1]P
setp pid.y1.Igain [JOINT_1]I
...
net y1-index-enable <=> pid.y1.index-enable
net y1-enable => pid.y1.enable
net y1-pos-cmd => pid.y1.command
net y1-vel-cmd => pid.y1.command-deriv
net y1-pos-fb => pid.y1.feedback
net y1-output => pid.y1.output
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [JOINT_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [JOINT_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [JOINT_1]OUTPUT_MAX_LIMIT
net y1-output => hm2_5i25.0.7i77.0.1.analogout2
net y1-pos-cmd joint.2.motor-pos-cmd
net y1-enable joint.2.amp-enable-out
