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Backlash updates

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NicholasRees
2010-03-05 21:19:45 +00:00
parent 262a5be41a
commit 2d7aba67c5
1 changed files with 51 additions and 0 deletions
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documentation/motor_notes.txt
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@@ -197,3 +197,54 @@ ENDIF
#3) Backlash correction is disabled if and only if |BDST| < |RES|.
Initial or retry move logic at end of do_work().
------------------------------------------------
IF [backlash is disabled {|BDST| < |MRES|}], OR,
[Preferred Dir. == True, AND, BVEL == VELO, AND, BACC == ACCL]
Set local vel/acc to slew values.
IF use relative moves indicator is true.
Set local move position = relpos * FRAC
= (DIFF/MRES) * FRAC
= ((DVAL - DRBV)/MRES) * FRAC
ELSE
Set local move position = currpos + (FRAC * (newpos - currpos))
If FRAC = 1
= currpos + newpos - currpos = newpos
= DVAL/MRES
ENDIF
ELSE IF
[Preferred Dir. == True], AND,
[the current position is within the backlash distance plus
1 step. {|DIFF| < |BDST| + |MRES|}
{
(use_rel == true, AND, (sign(DIFF - BDST) != sign(DIFF)), OR
[use_rel == false, AND, ([(LDVL + RDBD) > (DVAL - BDST)] == (DVAL > LDVL))]
}
]
Set local vel/acc to backlash values.
IF use relative moves indicator is true.
Set local move position = relpos * FRAC
IF use relative moves indicator is true.
Set local move position = relpos * FRAC
= (DIFF/MRES) * FRAC
= ((DVAL - DRBV)/MRES) * FRAC
ELSE
Set local move position = currpos + (FRAC * (newpos - currpos))
If FRAC = 1
= currpos + newpos - currpos = newpos
= DVAL/MRES
ENDIF
ELSE
Set local vel/acc to slew values.
IF use relative moves indicator is true.
Set local move position = relbpos
= (DIFF - BDST) / MRES
ELSE
Set local move position = bpos
= (DVAL - BDST) / MRES
ENDIF
ENDIF