ATC Project - Debug phase

More tweaks. And I updated the Vismach config to show tool numbers on the carousel. This was necessay to be able to test properly, and possibly took more effort than the rest of the work.
It also shows that the VMC_graycode config has something wrong with the graycode simulation, but I don't think that's a new problem.

I have pushed the changes to master. But here is the latest comp if you want to try it.
 

Testing notes for 6/27 version

COUNTS mode

• Homing works to pin sensor, no slow search
• Subsequent pocket commands move scale amount, no slow search
• No change in slow search behavior regardless of width, speed, or decel-time settings
• Jog TEST1 (fwd)
  • Requires a second enable-disable sequence to clear the state and motor-dir.
  • set jog-fwd to high
  • set enable to high < carousel moves one pocket
  • set enable to low
  • set jog-fwd to low
    • motor-dir is still 1, state is 20
  • set enable to high
    • state now 9
  • set enable to low
    • motor-dir is 0, state now 0
• Jog TEST2 (fwd, changed sequence)
  • set jog-fwd to high
  • set enable to high < carousel moves one pocket
    • motor-dir = 1, state = 20
  • set jog-fwd to low
    • carousel does slow search to previous pocket. (not to sensor, but by scale counts)
    • current-position updated to pocket-number
  • set enable to low
    • motor-dir is 0, state now 0
  • Tried playing with decel-time and width, but nothing changed the 'back up to the previous pocket' behavior.
• Jog TEST3 (reverse)
  • set jog-rev to high
    • motor-dir = -1, state = 20
  • set enable to high < carousel moves one pocket to pin sensor
    • motor-dir = -1, state = 20
  • set jog-rev to low
    • carousel does slow search to pin sensor edge
    • motor-dir = -1, state = 9
  • set enable to low
    • motor-dir is 0, state now 0

INDEX mode

• Slow search works for both homing and pocket commands
• Jogging works both directions
  • set jog-fwd to high
  • set enable to high < carousel moves to next pocket sensor
  • set jog-fwd to low < carousel does slow search to edge of pocket sensor
  • set enable to high
    • motor-dir 0, state 0

Hope that was useful
-R

Based in this feedback, a further iteration. It _should_ now do a search move for the index pin during homing. And after homing it then starts a new sequence of going to the right pocket.

It should _not_ require enable to be set high in order to jog. The jog buttons should be momentary buttons It will hold in state 20 waiting for the jog button to be released to ensure that it only moves one pocket at a time.

If you jog when not homed then it will home to 1 and then do the jog, so will go to 2 or N-1.

Next round of testing.

COUNTS

• Search to home/index works perfectly (YAY!)
• Normal pocket commands do not search, as expected for 'counts' mode (YAY!)
• Jogging still requires the enable pin to be set high for any movement.
• Test 1 (fwd, sequence 1)
  • enable LOW < no movement, state = 0
  • jog-fwd HIGH < no movement, state = 20
  • enable HIGH < moves fwd one pocket, state = 20
  • enable LOW < no movement, state = 20
  • jog-fwd LOW < no movement, state = 6
  • enable HIGH < no movement, state = 9
• Test 2 (fwd, sequence 2)
  • enable LOW < no movement, state = 0
  • enable HIGH < no movement, state = 9
  • jog-fwd HIGH < no movement, state = 9
  • enable LOW < no movement, state = 9
  • enable HIGH < moves fwd one pocket, state = 20
• Test 3 (fwd, sequence 3)
  • enable LOW < no movement, state = 0
  • jog-fwd HIGH < no movement, state = 20
  • enable HIGH < moves fwd one pocket, state = 20
  • jog-fwd LOW < moves back one pocket at slow speed, state = 9
  • enable LOW < no movement, state = 0
• Test 4 (rev, sequence 1)
  • enable LOW < no movement, state = 0
  • jog-rev HIGH < no movement, state = 20
  • enable HIGH < moves rev one pocket, state = 20
  • jog-rev LOW < does slow search to sense-1, state = 9
  • enable LOW < no movement, state = 0
• Test 5 (rev, sequence 2 (I think this is working as you intended)
  • jog-rev HIGH < no movement, state = 20
  • jog-rev LOW < no movement, state = 20
  • enable HIGH < moves rev one pocket, does slow search to sense-1, state = 20
  • enable LOW < no movement, state = 0
• Test 6 (fwd, sequence 2)
  • jog-fwd HIGH < no movement, state = 20
  • jog-fwd LOW < no movement, state = 20
  • enable HIGH < moves fwd one pocket, does slow search back to starting pocket
    • state = 5 (at next pocket)
    • state = 6 (moving back)
    • state = 9 (stopped at original pocket)
  • enable LOW < no movement, state = 0

In sum...
Toggling jog-rev on/off then enable works.
Toggling jog-fwd on/off then enable doesn't work
Other jog/enable sequences result in varying behavior.

Did not switch to index mode as that was working fine last iteration.

As usual, thanks for the hard work.

-R

 

• Normal pocket commands do not search, as expected for 'counts' mode (YAY!)

It should, but might be invisible. You can run halscope looking at "state" to see.

[*]Jogging still requires the enable pin to be set high for any movement.

It really shouldn't and doesn't for me. Can you attach your HAL file to see if there is a linkage there that is causing a problem?

Hal attached; don't be too hard on me, it's a work-in-progress...  Carousel connections are towards the beginning.

I've run halscope with 'state' as the trigger.  On a normal pocket command (not jog), it changes from 0, to 2, to 5, to 9.

I can't see any slow search with my eyes, and counts doesn't change after it stops.