Advanced Search

POSTGUI_HALFILE = custom_postgui.hal
POSTGUI_HALFILE = vc-postgui.hal
POSTGUI_HALFILE = probe_basic_postgui.hal

# These files are loaded post GUI, in the order they appear
source custom_postgui.hal
source vc-postgui.hal
source  probe_basic_postgui.hal

POSTGUI_HALFILE = postgui_call_list.hal

# Axis: Z Joint: 1 Output: 1
# PID Setup
setp pid.z.Pgain [JOINT_1](P)
setp pid.z.Igain [JOINT_1](I)
setp pid.z.Dgain [JOINT_1](D)
setp pid.z.bias [JOINT_1](BIAS)
setp pid.z.FF0 [JOINT_1](FF0)
setp pid.z.FF1 [JOINT_1](FF1)
setp pid.z.FF2 [JOINT_1](FF2)
setp pid.z.deadband [JOINT_1](DEADBAND)
setp pid.z.maxoutput [JOINT_1](MAX_OUTPUT)
setp pid.z.error-previous-target True

# joint-1 enable chain
net joint-1-index-enable <=> pid.z.index-enable
net joint-1-index-enable <=> joint.1.index-enable
net joint-1-index-enable <=> hm2_[MESA](BOARD).0.encoder.01.index-enable

net joint-1-enable <= joint.1.amp-enable-out
net joint-1-enable => pid.z.enable

# PWM Generator setup
setp hm2_[MESA](BOARD).0.pwmgen.01.dither true
setp hm2_[MESA](BOARD).0.pwmgen.01.output-type 1 #PWM pin0
setp hm2_[MESA](BOARD).0.pwmgen.01.offset-mode 1 # offset mode so 50% = 0
setp hm2_[MESA](BOARD).0.pwmgen.01.scale [JOINT_1]SCALE

# ---Encoder feedback signals/setup---
setp hm2_[MESA](BOARD).0.encoder.01.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.01.filter 1
setp hm2_[MESA](BOARD).0.encoder.01.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.01.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.01.index-mask-invert 0
setp hm2_[MESA](BOARD).0.encoder.01.scale  [JOINT_1]ENCODER_SCALE

# position command and feedback
net joint-1-pos-cmd <= joint.1.motor-pos-cmd
net joint-1-pos-cmd => pid.z.command

net joint-1-pos-fb <= hm2_[MESA](BOARD).0.encoder.01.position
net joint-1-pos-fb => joint.1.motor-pos-fb
net joint-1-pos-fb => pid.z.feedback

net joint.1.output <= pid.z.output
net joint.1.output => hm2_[MESA](BOARD).0.pwmgen.01.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.01.scale  [JOINT_1](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.01.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.01.filter 1
setp hm2_[MESA](BOARD).0.encoder.01.index-invert 0
setp hm2_[MESA](BOARD).0.encoder.01.index-mask 0
setp hm2_[MESA](BOARD).0.encoder.01.index-mask-invert 0

[AXIS_Z]
MIN_LIMIT = 0
MAX_LIMIT = 1000
MAX_VELOCITY = 333.333
MAX_ACCELERATION = 400

[JOINT_1]
CARD = 0
TAB = 1
AXIS = Z
MIN_LIMIT = 0
MAX_LIMIT = 1000
MAX_VELOCITY = 333.333
MAX_ACCELERATION = 400
TYPE = LINEAR
SCALE = 1
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = 1000
FERROR =  10000
MIN_FERROR =  1000
DEADBAND = 0
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 0.0127
HOME = 10
HOME_OFFSET = 0
HOME_SEARCH_VEL = 5
HOME_LATCH_VEL = 0.5
HOME_FINAL_VEL = 20
HOME_SEQUENCE = 1
HOME_USE_INDEX = True

self.emc.jogging(1)

    def do_key_jog(self,axis,direction,action):
        if self.data._JOG in self.check_mode(): # jog mode active:
                    if not action: cmd = 0
                    elif direction: cmd = 1
                    else: cmd = -1


                    self.emc.jogging(1) <-- HERE


                    #print(self.data.jog_increments[self.data.current_jogincr_index])
                    if self.data.jog_increments[self.data.current_jogincr_index] == ("continuous"): # continuous jog
                        #print("active axis jog:",axis)
                        self.emc.continuous_jog(axis,cmd)
                    else:
                        #print("jog incremental")
                        if cmd == 0: return # don't want release of button to stop jog
                        self.mdi_control.mdi.emcstat.poll()
                        if self.mdi_control.mdi.emcstat.state != 1: return
                        jogincr = self.data.jog_increments[self.data.current_jogincr_index]
                        distance = self.parse_increment(jogincr)
                        self.emc.incremental_jog(axis,cmd,distance)