One way is this. You can do it from a simple HAL session at the terminal
Code:
halrun
loadrt stepgen
loadrt threads name1=base-thread period1=100000 name2=servo-thread period2=1000000
addf stepgen.make-pulses base-thread
addf stepgen.capture-position servo-thread
addf stepgen.update-freq servo-thread
setp stepgen.0.scale 1
setp stepgen.0.maxvel 100
setp stepgen.0.maxaccel 1000
start
You can probably paste this into a terminal window then carry on, or save it as a file9(somename.hal) and then use
Code:
halrun
source somename.hal
You can now use commands like
Code:
setp stepgen.0.position-cmd 200
setp stepgen.0.position-cmd 0
to move the motor. And because the scale is set as 1 then the units are actual steps.
