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Need a bit of help with a Raspberry PI 4 GPIO Glass scales control loop
5 years 8 months ago #199593
by yagias
Replied by yagias on topic Need a bit of help with a Raspberry PI 4 GPIO Glass scales control loop
So… there were some re-declarations of things like debounce.0. but I sorted those out.
I attached an updated version of the HAL.
Went and tested but saw the same result.
But I noticed that you put in net xpos-fp => joint.0.motor-pos-fb # feedback to joint data e.g. xpos–fp. Was that on purpose or should it had been xpos-fb?
Just for kicks i changed it to xpos-fb with much greater success
It doesn’t seem to be correcting anything at this point but I’m assuming that comes down to tuning.
I attached an updated version of the HAL.
Attachment not found
Went and tested but saw the same result.
Attachment not found
But I noticed that you put in net xpos-fp => joint.0.motor-pos-fb # feedback to joint data e.g. xpos–fp. Was that on purpose or should it had been xpos-fb?
Just for kicks i changed it to xpos-fb with much greater success
Attachment not found
It doesn’t seem to be correcting anything at this point but I’m assuming that comes down to tuning.
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5 years 8 months ago #199597
by yagias
Replied by yagias on topic Need a bit of help with a Raspberry PI 4 GPIO Glass scales control loop
@ Chris You’re back early
Regarding the syntax i’m pretty much up for anything you may recommend.
Yes. I’m able to move the axis and as long as my ferror is high enough i don’t get a joint following error.
(which is obvious even to me)
“Where are your command data written?” I’m sorry but i don’t understand the question?
(well having read Hakans post i think i do)
If i understand this right ??? commands are going to
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
@ Hakan
That would explain it and it makes sense.
BTW: I may not be right and have you mixed up with someone else but if i’m right i’m a fan of your videos.
Just want to take a second here to say thank you guys. This makes a world of difference to me.
Regarding the syntax i’m pretty much up for anything you may recommend.
Yes. I’m able to move the axis and as long as my ferror is high enough i don’t get a joint following error.
(which is obvious even to me)
“Where are your command data written?” I’m sorry but i don’t understand the question?
(well having read Hakans post i think i do)
If i understand this right ??? commands are going to
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
@ Hakan
That would explain it and it makes sense.
BTW: I may not be right and have you mixed up with someone else but if i’m right i’m a fan of your videos.
Just want to take a second here to say thank you guys. This makes a world of difference to me.
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5 years 8 months ago #199605
by Hakan
Replied by Hakan on topic Need a bit of help with a Raspberry PI 4 GPIO Glass scales control loop
Yes I make some bad videos so that must be me
Here is my z-axis, it uses stepper motor and encoder for feedback. It uses hm2-components instead of the basic encoder and stepgen, but the principle is the same. Check how the pid component comes in, I think it can be the same obviously with the right naming.
Here is my z-axis, it uses stepper motor and encoder for feedback. It uses hm2-components instead of the basic encoder and stepgen, but the principle is the same. Check how the pid component comes in, I think it can be the same obviously with the right naming.
Code:
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror 0.0
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# --- Z axis encoder feedback signals/setup
setp hm2_7i76e.0.encoder.02.counter-mode 0
setp hm2_7i76e.0.encoder.02.filter 1
setp hm2_7i76e.0.encoder.02.index-invert 0
setp hm2_7i76e.0.encoder.02.index-mask 0
setp hm2_7i76e.0.encoder.02.index-mask-invert 0
setp hm2_7i76e.0.encoder.02.scale 1000
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i76e.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.encoder.02.position
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.02.enable
net z-vel-fb <= hm2_7i76e.0.encoder.02.velocity
net z-vel-fb => pid.z.feedback-deriv
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