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Код: Выделить всё

loadrt threads name1=servo-thread period1=1000000
loadrt pid num_chan=1

loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
setp     hm2_5i23.0.pwmgen.pwm_frequency 60000
setp     hm2_5i23.0.watchdog.timeout_ns 10000000

loadrt siggen
loadrt line4to2 count=2
loadrt mux4 count=2
loadrt toggle
loadrt passthru count=8
loadrt reciprocal

loadusr -Wn gui0 pyvcp -c gui0 servo-tuning-gui.xml

# ################################################
# THREADS
# ################################################

addf hm2_5i23.0.read servo-thread
addf line4to2.0 servo-thread
addf line4to2.1 servo-thread
addf mux4.0 servo-thread
addf mux4.1 servo-thread
addf pid.0.do-pid-calcs servo-thread
addf hm2_5i23.0.write servo-thread
addf hm2_5i23.0.pet_watchdog servo-thread
addf siggen.0.update servo-thread
addf toggle.0 servo-thread
addf passthru.0 servo-thread
addf passthru.1 servo-thread
addf passthru.2 servo-thread
addf passthru.3 servo-thread
addf passthru.4 servo-thread
addf passthru.5 servo-thread
addf passthru.6 servo-thread
addf passthru.7 servo-thread
addf reciprocal.0 servo-thread

# ################
# Siggen
# ################

net period <= gui0.period-f => reciprocal.0.in

net amplitude <= gui0.amplitude-f => siggen.0.amplitude
net frequency <= reciprocal.0.out => siggen.0.frequency

net square-signal <= siggen.0.square => mux4.0.in0
net triangle-signal <= siggen.0.triangle => mux4.0.in1
net sine-signal <= siggen.0.sine => mux4.0.in2

net square-select <= gui0.waveform-selection.Square => line4to2.0.in0
net triangle-select <= gui0.waveform-selection.Triangle => line4to2.0.in1
net sine-select <= gui0.waveform-selection.Sine => line4to2.0.in2

net mux0-select-0 <= line4to2.0.out0 => mux4.0.sel0
net mux0-select-1 <= line4to2.0.out1 => mux4.0.sel1

# ################
# Enable
# ################

net momentary-enable <= gui0.enable => toggle.0.in
net global-enable <= toggle.0.out => pid.0.enable

# ################
# PID
# ################

net p-gain-in <= gui0.Pgain => passthru.0.in 
net p-gain-out <= passthru.0.out => pid.0.Pgain

net i-gain-in <= gui0.Igain => passthru.1.in 
net i-gain-out <= passthru.1.out => pid.0.Igain

net d-gain-in <= gui0.Dgain => passthru.2.in 
net d-gain-out <= passthru.2.out => pid.0.Dgain

net pid-bias-in <= gui0.bias => passthru.3.in
net pid-bias-out <= passthru.3.out => pid.0.bias

net pid-ff0-in <= gui0.ff0 => passthru.4.in
net pid-ff0-out <= passthru.4.out => => pid.0.FF0

net pid-ff1-in <= gui0.ff1 => passthru.5.in
net pid-ff1-out <= passthru.5.out => => pid.0.FF1

net pid-ff2-in <= gui0.ff2 => passthru.6.in
net pid-ff2-out <= passthru.6.out => => pid.0.FF2

net pid-deadband-in <= gui0.deadband => passthru.7.in
net pid-deadband-out <= passthru.7.out => pid.0.deadband

setp pid.0.maxoutput 1.0000

net pid-command <= mux4.0.out => pid.0.command
net pid-output <= pid.0.output
net pid-feedback <= mux4.1.out => pid.0.feedback

net x-axis-feedback => mux4.1.in0
net y-axis-feedback => mux4.1.in1
net z-axis-feedback => mux4.1.in2

net x-axis-select <= gui0.axis-selection.X => line4to2.1.in0
net y-axis-select <= gui0.axis-selection.Y => line4to2.1.in1
net z-axis-select <= gui0.axis-selection.Z => line4to2.1.in2

net mux1-select-0 <= line4to2.1.out0 => mux4.1.sel0
net mux1-select-1 <= line4to2.1.out1 => mux4.1.sel1


# ################
# X [0] Axis
# ################

net x-axis-select => hm2_5i23.0.pwmgen.00.enable

# encoder feedback
setp hm2_5i23.0.encoder.00.counter-mode 0
setp hm2_5i23.0.encoder.00.filter 1
setp hm2_5i23.0.encoder.00.index-invert 0
setp hm2_5i23.0.encoder.00.index-mask 0
setp hm2_5i23.0.encoder.00.index-mask-invert 0
setp hm2_5i23.0.encoder.00.scale  80572.1899401

net x-axis-feedback <= hm2_5i23.0.encoder.00.position

# position command signals
setp hm2_5i23.0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
setp hm2_5i23.0.pwmgen.00.scale 1.0000

net pid-output => hm2_5i23.0.pwmgen.00.value


# ################
# Y [1] Axis
# ################

net y-axis-select => hm2_5i23.0.pwmgen.01.enable

# encoder feedback
setp hm2_5i23.0.encoder.01.counter-mode 0
setp hm2_5i23.0.encoder.01.filter 1
setp hm2_5i23.0.encoder.01.index-invert 0
setp hm2_5i23.0.encoder.01.index-mask 0
setp hm2_5i23.0.encoder.01.index-mask-invert 0
setp  hm2_5i23.0.encoder.01.scale  80572.1899401

net y-axis-feedback <= hm2_5i23.0.encoder.01.position

# position command signals
setp hm2_5i23.0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
setp hm2_5i23.0.pwmgen.01.scale 1.0000

net pid-output => hm2_5i23.0.pwmgen.01.value


# ################
# Z [2] Axis
# ################

net z-axis-select => hm2_5i23.0.pwmgen.02.enable

# encoder feedback
setp hm2_5i23.0.encoder.02.counter-mode 0
setp hm2_5i23.0.encoder.02.filter 1
setp hm2_5i23.0.encoder.02.index-invert 0
setp hm2_5i23.0.encoder.02.index-mask 0
setp hm2_5i23.0.encoder.02.index-mask-invert 0
setp hm2_5i23.0.encoder.02.scale  80572.1899401

net z-axis-feedback <= hm2_5i23.0.encoder.02.position

# position command signals
setp hm2_5i23.0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
setp hm2_5i23.0.pwmgen.02.scale 1.0000

net pid-output => hm2_5i23.0.pwmgen.02.value

# ################
# Let's Go!
# ################

start
loadusr halscope