ATC Project - Debug phase

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.

OK, the reason that you need enable true is that you only enable the stepgen.03 when enable is true.
If you enable the stepgen on MACHINE_ON instead then you should be able to jog as and when you want.
At the moment pressing the jog button is starting the jog with a non-moving carousel, so it will be getting stuck.

From state 5 it has to go to 7 and 8 (and maybe 6) to get to 9. It might be flying through due to too-short decel time (eg, seeing the index toggle as it decels). Try a decel time of 2 seconds, that should make it really obvious. (But only for testing)

Unsurprising that it was an operator issue and not a carousel.comp issue.  I think I linked stepgen to enable for my initial testing as I was paranoid about the carousel being able to move without me actively turning it on while watching all the other pins & parameters.

So far I've been setting decel-time in halshow right after I start up; the new halshow features makes it very easy to adjust values while testing.

Thanks, I'll edit hal and try again this evening.