andypugh wrote: I will also add that, personally, I don't really like linking and unlinking pins in HAL to switch between modes. I much prefer the approach of switching between two separate PID controllers in the HAL layer.
I didn't care for the idea either, considering it akin to "poking false memories into linuxcnc's living, real-time brain" and thus a kind of ad hoc brain surgery, but this approach had the advantage, slim though it was, that I could follow it, if just barely.
"PID controllers in the HAL layer" adds one abstraction level too many for me.
I redd everything I found about HAL, and kept the references open while experimenting, but still just-don't-grasp.
I need a coloring-book version.
And like the 16-colors-in-a-box type.
