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BartVerzijlenberg

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  1. Fair enough. Thanks. Is there a recommended way to implement this instead? I.e., given that an arm controller is computing a despos for each motor, how should this be passed on to the deltatau? The system seems quite normal otherwise, and with the computation added in, seems to work quite well. Thanks, Bart.
  2. In that case, how does one use pshm->ServoCtrl(Mptr); and command a desired position yourself? I have a higher level arm controller that feeds me joint position commands. The code works in the sense that the joints move as required. Is there somewhere else that the command should go? Thanks, Bart
  3. I have a custom servo ctrl, where I set the despos of each motor, and then user the stock servoCtrl function. I'm noting that Mpts->PosError != (Mptr->DesPos - Mptr->ActPos), contrary to the manual, unless I do the computation myself inuser_pid_ctrl. Is this normal, or is the manual wrong when using a custom ctrl? Also, while i'm here: - I regularly have to reselect the "user servo setup" routine in "realtime routines". It will show the correct function already selected in the drop down menu, but I have to reselect it for each motor. Any known cause/fix for this? I've added code of my own to detect when it occurs, so my program doesn't go off using the wrong servoCtrl function. -The usralgo.ko is only created in debug more, meaning code changes, even with a complete rebuild, in release mode are wrong (as I have to manually copy the usralgo.ko file to the release folder each time). Any fix for this? All this with the latest (1.5.0.21) IDE. Thanks! Bart. double user_pid_ctrl(struct MotorData *Mptr){ ..... Mptr->DesPos = SOMEVALUE; //Without this line, poserror is wrong Mptr->PosError = Mptr->DesPos - Mptr->ActPos; //-------------------------------------------------------------- // Use the built in PID loop to run the actual command return pshm->ServoCtrl(Mptr); }
  4. Hi, Found a solution: The auto created makefile has the following entry: $(CC) $(CFLAGS) $(CUSTOMCFLAGS) $(DTDEBUG) -c $< by creating a custom makefile, and changing that line to $(CC) $(CFLAGS) $(CUSTOMCFLAGS) $(DTDEBUG) -c -o $@ $< the issue is worked around. Is there a way to change the format of the autocreated makefile? This solution requires manually adding any new files to the makefile, which is annoying. Thanks, Bart
  5. Hi, I have a few subfolders containing .c and .h files inside a background program. They are built fine, but the obj file are places in the main project folder, not the subfolder. During the link step, the make file looks in the subfolder for the obj files, where they don't exist. Trying to change the make file doesn't work, as it is overwritten during build. Is there a way to have subfolders, or must I have all files on one level? Thanks, Bart PS. I'm using the august release of the IDE.
  6. Excellent. Thanks for the reply. Any word on how soon we can expect this upcoming release? Thanks, Bart
  7. PS. I also can't seem to create .c files through the IDE. Any reason why I can't?
  8. Hi, I have created the following background app files: capp1.c capp1.h newfolder\test.c newfolder\test.h capp1.h calls testFunc() in test.h However, when I try to build this, it attemps to create an app, not an object file: ../../../Bin/Debug/NewFolder.out How can I change this behavior? Surely I'm not forced to have all my files in a single flat folder? Thanks, Bart
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