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What's the best method for monitoring a comptable output?


teaguehall
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Hi there,

 

My application currently uses a combination of comp tables. It would be desirable to monitor how much compensation each comp table is applying.

 

I've run into an issue where I have multiple comp tables pointing to the same motor (e.g. Motor[1].CompDesPos.a). Because of this, it is difficult to determine how much compensation is be contributed by each comptable. What is the best method for monitoring a comp table's output?

 

In the past, I've had to create "dummy motors" that simply exist such that I can point one of the comp tables at it. This way I can monitor dummy motor's CompDesPos register to see how much compensation is being outputted. This however feels a little "hacky".

 

Is there a better method available?

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As far as I know, this is the best available method. That being said, the dummy motor does not require any setup, Motor[x].ServoCtrl=1, or even Sys.MaxMotors high enough to contain the dummy motor.

 

I'm working on a 6 axis system right now (Sys.MaxMotors=7). I can simply add a target and scale factor to my current table and then put Motor[10].CompPos in a watch window

 

CompTable[0].Target[2] = Motor[10].CompPos.a

CompTable[0].Sf[2]=1

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As far as I know, this is the best available method. That being said, the dummy motor does not require any setup, Motor[x].ServoCtrl=1, or even Sys.MaxMotors high enough to contain the dummy motor.

 

I'm working on a 6 axis system right now (Sys.MaxMotors=7). I can simply add a target and scale factor to my current table and then put Motor[10].CompPos in a watch window

 

CompTable[0].Target[2] = Motor[10].CompPos.a

CompTable[0].Sf[2]=1

 

Good info to know regarding Sys.MaxMotors. I've been experiencing some weird issues that may have been caused by setting it unnecessarily large.

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