Thread 1 CURRENTSuperMaxInitRev4 111915-12541.c

Hi,

Here is a little more information & a simplified question.

Would it be possible to modify some code in MpgSmoothHarewareEnc.c file (already integrated into my init thread), and have it observe softlimits without going into feedhold?

While using mach3, I can jog with this MPG until I hit a softlimit. When this happens, it goes into feedhold in Kmotion, but not in mach3.

I would like to see if there is someway to not have Kmotion go into feedhold if a softlimit is hit with use of the MPG.

Thank you for your help in these matters.

Attached is my init file.

Rob

 

We based our MPG on that sample too.  What you want to do is insert something like the following just before the MoveExp() call:

#define TINYDIST 1  // number of steps to keep away from soft limit

            if (Target > chan[Axis].SoftLimitPos-TINYDIST)
                Target = chan[Axis].SoftLimitPos-TINYDIST;
            if (Target < chan[Axis].SoftLimitNeg+TINYDIST)
                Target = chan[Axis].SoftLimitNeg+TINYDIST;

Regards,

SJH

On Thu, Nov 19, 2015 at 2:01 AM, rjreese29@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

[Attachment(s) from rjreese29@... [DynoMotion] included below]

Hi,

Here is a little more information & a simplified question.

Would it be possible to modify some code in MpgSmoothHarewareEnc.c file (already integrated into my init thread), and have it observe softlimits without going into feedhold?

While using mach3, I can jog with this MPG until I hit a softlimit. When this happens, it goes into feedhold in Kmotion, but not in mach3.

I would like to see if there is someway to not have Kmotion go into feedhold if a softlimit is hit with use of the MPG.

Thank you for your help in these matters.

Attached is my init file.

Rob

init-12581.c

 

Hi Rob,

where you currently have:

            if (Target > chan(2).SoftLimitPos-TINYDIST)
                Target = chan(2).SoftLimitPos-TINYDIST;
            if (Target < chan(2).SoftLimitNeg+TINYDIST)
                Target = chan(2).SoftLimitNeg+TINYDIST;

replace wherever you have "(2)" with "[Axis]" (without the quotes).  You are getting the "function pointer" error because, in C, the round brackets indicate parameters to a function.  So, where you write chan(2) the compiler is then expecting 'chan' to be the name of a function or a pointer to one.  But chan is really an array, so it needs to be indexed with square brackets.  Also, you don't want '2' in there, since then it would be comparing every axis to the limits for just the Z axis (number 2).  Since 'Axis' is the variable which contains the axis number that you are jogging, that is the appropriate index.

I know it's difficult to wrap your mind around (of all people, I had the greatest difficulty grokking arrays when I started programming, and C is definitely not a beginner's language).  Here's something that might be helpful in this case:

chan - is the name of an array

chan[n] - is the n'th element of chan.  C counts the first element as number 0, then counts up from there.  The joke is that you can tell someone is a C programmer because when counting how many fingers they have, they go "zero, one, two, three, four -  I have five fingers!"

chan[n].foo - is the field called 'foo' in the n'th element of chan.  On the kflop, there are a lot of useful fields in each channel element.  For example, SoftLimitPos.

Regards,

SJH

On Thu, Dec 10, 2015 at 9:22 AM, rjreese29@... [DynoMotion] <DynoMotion@yahoogroups.com> wrote:

 

[Attachment(s) from rjreese29@... [DynoMotion] included below]

Hi SJH,

Thanks again for the advice. I wasn't able to successfully integrate the code. I am not a programmer and do not understand an error I am getting when compiling thread 1

Error: function pointer expected.

Attached is a portion of the init.c where MPGSmoothHardwareEnc is integrated into thread 1

#define TINYDIST 100 is declared up at the top, but not on this file attached.

The section of code you gave me below is randomly placed right now on this file I attached.. 

Would anyone be able to show me how you would place this section of code without errors? ... Me being a newbie, 

I read a bit on function pointer errors,  but that didn't help.. 

As SJH advised, I placed this section just before the MoveExp() call and it also errored.

Any advice on how to do what he is suggesting would be greatly appreciated. Please review the attached file. I would like to see how these statements are properly syntaxed.

Thanks,

Rob