Lost Step Counter

#!/usr/bin/python
import hal, time
h = hal.component("miss_step")

h.newpin("mot_off_x", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("joint_x", hal.HAL_FLOAT, hal.HAL_IN)
h.newpin("lost_x", hal.HAL_FLOAT, hal.HAL_OUT)
h.ready()





previous_offset_x = 0.00
try:
    while 1:
        time.sleep(1)
# make difference between previous offset and current offset, print the deviation if > 0.01
        if (h['mot_off_x']-previous_offset_x) >= 0.01 or (h['mot_off_x']-previous_offset_x) <= -0.01:
            h['lost_x'] = h['mot_off_x']-previous_offset_x
            previous_offset_x = h['mot_off_x']

# reset deviation display if joint has moved for more than 5mm
        if h['joint_x'] >= 5:
            h['lost_x'] = 0






except KeyboardInterrupt:
    raise SystemExit

net my-motoroffsetx miss_step.mot_off_x <= axis.0.motor-offset
net my-lost_x pyvcp.x-lostSteps <= miss_step.lost_x
net my-joint_x miss_step.joint_x <= axis.0.joint-pos-cmd