So it does the forward move, then stops for about 0.5s, then does the backwards locking move?
[strike]Or does it do the forward move then starts to go backward, stops for about 0.5s and then finishes the backward move?[/strike]
[edit]
Ok now that I changed the maxaccel and maxvel for the stepgen I can see the problem in my simulated system as well.
Because the system has no feedback it just waits "long enough" for the forward move to finish before starting the backward locking move. Because you now sped things up by changing acceleration and velocity the forward move does not take as long as before so now there is some dead time where it doesn't move before going backwards.
The handle for this is the factor in (delay * 100). Don't let the comment (//Forward move) confuse you. Its actually the backward move.
Try maybe (delay_index < (delay * 75)) ) and recompile :
Code:
case 1: // Forward move
if(position_cmd < position_req) // have we got there yet?
{
break;
}
if(!fjog && (delay_index < (delay * 100)) ) // this figure depends upon the speed of the servo thread etc
delay_index++;
Really it should just wait for the stepgen to reach the commanded position then it would be independent of set acceleration and velocity.
