On 29 July 2010 16:32, Schooner <[email protected]> wrote:
> Below is my idea of how I could achieve the tool change with a component
> and the associated .hal entries.
I have been thinking about this a bit, and your solution (not
unexpectedly) differs from mine.
One thing that I don't like about your approach is the usleep, I think
it means that the component has to be userspace (which is probably
perfectly OK for a toolchanger). Realtime HAL components probably need
to run through to completion every time they are called.
I would write it as a state machine with an internal flag (the state
flag can even be a pin). This is off the top of my head (and I am not
really a C-programmer)
<pin definitions + headers + variables>
switch (state) {
case 0:
if (toolchange) {
state = 1;
toolchange_finished = false;
steps = tool_req - tool_sel;
if (steps < 0) steps = steps + 8 ;
pos_out = pos_in + scale1 * steps;
}
returrn;
case 1:
if (pos_out - pos_in < 0.001) {
state = 3;
pos_out = pos_out - scale2;
}
return;
case 3:
if (pos_out - pos_in < 0.001) {
state = 0;
toolchange_finished = true;
}
return;
default:
rtapi_print_msg(RTAPI_MSG_ERR, "Oh dear! /n");
}
--
atp
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