ATC Project - Debug phase

spumco
Offline
Platinum Member

4 years 5 months ago #243411 by spumco

Replied by spumco on topic ATC Project - Debug phase

andypugh wrote:
Can you attach your HAL file?

What is the state during the continuous rotation?

What is the status of motor-fwd, motor-rev and motor_vel ?

I will attach HAL when I get home later today, but the snippet I posted on page 1 of this thread is essentially unchanged (besides changing rev-dc to a negative number)

State during continuous rotation is 4. This hasn't changed from my earlier post:

carousel.0.state
- "0" before first enable
- "0" after M68 E0 Q2
- "11" after first enable
- "2" after sense-0 is first triggered
- "4" after sense-1 is triggered (during continuous rotation)
- "0" after M65 P0 (at random location
- "5" while jog-fwd or -rev is enabled
- "0" when jog-fwd or -rev is disabled

Please Log in or Create an account to join the conversation.

andypugh
Offline
Moderator

4 years 5 months ago #243412 by andypugh

Replied by andypugh on topic ATC Project - Debug phase

spumco wrote:

[*]"2" after sense-0 is first triggered
[*]"4" after sense-1 is triggered (during continuous rotation)

I think I see a bug, though not one that might usually be seen

"2" is looking for the position to be correct

Code:

    case 2: // moving
        if ((current_position != mod_pocket) && enable) return;
        if (rev_pulse > 0){
	    motor_fwd = 0;
            motor_rev = 1;
            motor_vel = rev_dc;
            timer = rev_pulse;        
	    state = 3;
        } else {
            motor_fwd = 0;
            motor_rev = 0;
            motor_rev = hold_dc;
            active = 0;
            if (enable) ready = 1;
            state = 4;
            break;
        }

I think that motor_rev = twice is a bug. But would probably only cause issues if hold_dc is non-zero.

Please Log in or Create an account to join the conversation.

andypugh
Offline
Moderator

4 years 5 months ago - 4 years 5 months ago #243421 by andypugh

Replied by andypugh on topic ATC Project - Debug phase

You can get linuxcnc-usapce-dev as a package here:

www.linuxcnc.org/dists/buster/2.8-rtpree...-dev_2.8.2_amd64.deb

Install it with

sudo apt-get install ./linuxcnc-uspace-dev_2.8.2_amd64.deb

You need the./ to tell apt to look for a local file, not something on the repository servers.

Then try changing the code above to:

Code:

} else {
        motor_fwd = 0;
        motor_rev = 0;
        motor_vel = hold_dc;
        active = 0;
        if (enable) ready = 1;
            state = 4;
        break;
     }

Then
sudo halcompile --install carousel.comp
And see if things are better.

Last edit: 4 years 5 months ago by andypugh.

Please Log in or Create an account to join the conversation.

spumco
Offline
Platinum Member

4 years 5 months ago - 4 years 5 months ago #243435 by spumco

Replied by spumco on topic ATC Project - Debug phase

andypugh wrote:
Can you attach your HAL file?

What is the state during the continuous rotation?

What is the status of motor-fwd, motor-rev and motor_vel ?

M68 E0 Q1
- carousel.0.motor-fwd = LOW
- carousel.0.motor-rev = LOW
- carousel.0.motor-vel = 0
- carousel.0.current-position = 0
- carousel.0.pocket-number = 1
M64 P0
- carousel rotates CCW
- carousel.0.motor-fwd = HIGH
- carousel.0.motor-rev = LOW
- carousel.0.motor-vel = 5
- carousel.0.current-position = 0
- carousel.0.pocket-number = 1
- carousel.0.homed = LOW
- carousel.0.homing = HIGH
sense-0 triggered
- carousel reverses direction (CW)
- carousel.0.motor-fwd = LOW
- carousel.0.motor-rev = LOW
- carousel.0.motor-vel = -5
- carousel.0.current-position = 1
- carousel.0.pocket-number = 1
- carousel.0.homed = HIGH
- carousel.0.homing = LOW
M65 P0
- carousel stops
- carousel.0.motor-fwd = LOW
- carousel.0.motor-rev = LOW
- carousel.0.motor-vel = 0
- carousel.0.current-position = 1
- carousel.0.pocket-number = 1
- carousel.0.homed = HIGH
- carousel.0.homing = LOW

HAL attached, just in case I forgot some changes in my post earlier today.

I'll have a go at the halcompile right now.

EDIT - downloaded .deb
sudo apt-get install ./linuxcnc-uspace-dev_2.8.2_amd64.deb
Reading package lists... Done
E: Unsupported file ./linuxcnc-uspace-dev_2.8.2_amd64.deb given on commandline

Bugger.

Attachments:

Last edit: 4 years 5 months ago by spumco.

Please Log in or Create an account to join the conversation.

spumco
Offline
Platinum Member

4 years 5 months ago - 4 years 5 months ago #243436 by spumco

Replied by spumco on topic ATC Project - Debug phase

Disregard post, was looking at the imported version, not what's installed.

Can I just paste the updated code in /dev/linuxcnc/rip/src/hal/components/carousel.comp?

Last edit: 4 years 5 months ago by spumco. Reason: Duh

Please Log in or Create an account to join the conversation.

andypugh
Offline
Moderator

4 years 5 months ago #243442 by andypugh

Replied by andypugh on topic ATC Project - Debug phase

spumco wrote:

Can I just paste the updated code in /dev/linuxcnc/rip/src/hal/components/carousel.comp?

Yes. Sorry, I had forgotten that you had a run-in-place version available.

(Which makes it all the more strange that you don't have halcompile)

Can you try halcompile -h in both a new terminal and one that has run the rip-environment script?

Please Log in or Create an account to join the conversation.

Time to create page: 0.501 seconds