Delay axis movement while brake releases
29 Jul 2021 19:29 - 29 Jul 2021 19:30 #216256
by nkp
Replied by nkp on topic Delay axis movement while brake releases
/* sudo halcompile --install unlocking.comp */
component unlocking "HAL component that arbitrates between various states and sets adaptive feed accordingly";
pin in float idleaxis-##[3] ;
pin in bit isunlockaxis-##[3] ;
pin out float afeed "adaptive feed";
function _ ;
license "GPL";
;;
FUNCTION(_) {
int i;
for (i = 0 ; i < 3; i++){
if(idleaxis(i)){
if(!isunlockaxis(i)) {afeed = 0.0001;}
else {afeed = 1;}
}
}
if(!idleaxis(0) && !idleaxis(1) && !idleaxis(2) ) {afeed = 1.0;}
}
component unlocking "HAL component that arbitrates between various states and sets adaptive feed accordingly";
pin in float idleaxis-##[3] ;
pin in bit isunlockaxis-##[3] ;
pin out float afeed "adaptive feed";
function _ ;
license "GPL";
;;
FUNCTION(_) {
int i;
for (i = 0 ; i < 3; i++){
if(idleaxis(i)){
if(!isunlockaxis(i)) {afeed = 0.0001;}
else {afeed = 1;}
}
}
if(!idleaxis(0) && !idleaxis(1) && !idleaxis(2) ) {afeed = 1.0;}
}
loadrt unlocking
addf unlocking.0 servo-thread
net adfeed unlocking.0.afeed motion.adaptive-feed
net in:positionX unlocking.0.idleaxis-00 axis.0.joint-vel-cmd
net in:positionY unlocking.0.idleaxis-01 axis.1.joint-vel-cmd
net in:positionZ unlocking.0.idleaxis-02 axis.2.joint-vel-cmd
net isunlockX unlocking.0.isunlockaxis-00
net isunlockY unlocking.0.isunlockaxis-01
net isunlockZ unlocking.0.isunlockaxis-02
loadusr halshow 5axis.halshow
loadusr sim_pin isunlockX isunlockY isunlockZ
Last edit: 29 Jul 2021 19:30 by nkp.
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29 Jul 2021 19:40 #216258
by nkp
Replied by nkp on topic Delay axis movement while brake releases
It would be nice to always check: is active M52
(from component )
(from component )
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