Поддерживает очень много функций, сегодня поставил на станок 6М13СН2 Модернизация после модернизации #1 энкодер для регулировки подачи.
И без каких либо танцев
сразу заработал (для просмотра содержимого нажмите на ссылку)
Код: Выделить всё
#include "KMotionDef.h"
// Detects changes in a hardware encoder and raises/lowers the FRO
// accordingly. Clamp the encoder range so that if the operator
// keeps turning it will only go so far (slip)
#define TMP 10 // which spare persist to use to transfer data
#include "KflopToKMotionCNCFunctions.c"
#define ENCODER_AXIS 4
#define ALLOWED_ENC_RANGE 100 // limit the encoder to this range
#define CHANGE_TOL 1.0 // only update if encoder change is more than this
#define CHANGE_TIME 0.05 // don't update more often then this time
#define FRO_MIN 0.1
#define FRO_MAX 2.0
// solve for mapping relationship between encoder and FRO
// assume the linear relationship (form y=ax+b)
// Determine the a and b values that will map encoder of Zero
// to the minimum desired FRO, and the ALLOWED_ENC_RANGE to the max FRO
// But map encoder to the log of the FRO so it changes exponentially
//
//
// FRO = a * Encoder + b
//
// Given: when Encoder = 0 => FRO = FRO_MIN
// Encoder = ALLOWED_ENC_RANGE => FRO = FRO_MAX
//
// b = FRO_MIN
//
// FRO_MAX = a * ALLOWED_ENC_RANGE + FRO_MIN
// a = (FRO_MAX - FRO_MIN)/ALLOWED_ENC_RANGE
//
// determine Encoder value where FRO = 1.0
//
// 1.0 = a * Encoder + b
// Encoder = (1.0 - b)/a
//
double LastFRO=-1;
double LastFROTime=0;
double LastEncoder=0;
double LastUpdateEncoder=1e30; // force immediate update
double Encoder;
main()
{
double Pot,T,FRO;
CHAN *ch=&chan[ENCODER_AXIS];
double a = (log(FRO_MAX) - log(FRO_MIN))/ALLOWED_ENC_RANGE;
double b = log(FRO_MIN);
// Initialize the encoder to give FRO of 1.0
Encoder = (log(1.0) - b)/a;
LastEncoder = ch->Position;
for (;;)
{
T = WaitNextTimeSlice();
Encoder += (ch->Position - LastEncoder); // accumulate changes
LastEncoder = ch->Position;
// send message to KMotionCNC if the pot changed significantly
// and it has been a while since the last message
if ((Encoder > LastUpdateEncoder+CHANGE_TOL || Encoder < LastUpdateEncoder-CHANGE_TOL) &&
T > LastFROTime+CHANGE_TIME)
{
// limit the Range
if (Encoder > ALLOWED_ENC_RANGE) Encoder = ALLOWED_ENC_RANGE;
if (Encoder < 0) Encoder = 0;
// map the encoder range to the desired FRO range
FRO = exp(a * Encoder + b);
if (FRO > FRO_MAX) FRO=FRO_MAX;
if (FRO < FRO_MIN) FRO=FRO_MIN;
DoPCFloat(PC_COMM_SET_FRO,FRO);
LastUpdateEncoder=Encoder;
LastFROTime=T;
}
}
}
