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Код: Выделить всё

component turret_1325f30 "LinuxCNC HAL for 1325f30 turret tool changer";
pin in bit sens-##[32 : personality+1];
pin in bit fix;
pin in bit change;
pin in s32 number;
pin in bit reset;

pin out bit fwd;
pin out bit rev;
pin out bit err;

pin out bit changed;

pin out s32 current-position;
pin out s32 state;
pin out float timer;
pin out float timer-fix;

param r float timeout = 40.0;
param r float timeout-fix = 1.0;

variable bool last_change;

function _;
description """
Turret with one motor, fwd for unlock and rev for fixing. Individual sensors for each tool, and additional sensor for fixing.
""";
license "GPL"; // indicates GPL v2 or later
;;



// loadrt turret_1325f30 personality=10
#define ERROR 0
#define IDLE 1
#define SEARCH 2
#define FIX 3
#define FIXED 4


FUNCTION(_) {
	for (int i = 0; i<personality; i++){
		if (sens(i)){
			current_position = i;
			break;
		}
	}
	switch (state){
		case ERROR :
			fwd = 0;
			rev = 0;
			err = 1;
			if (reset) {err = 0; state = IDLE;}
			break;
		case IDLE :
			fwd = 0;
			rev = 0;
			changed = 0;
			if (change && !last_change) {
				state=SEARCH;
				timer = timeout;
			}
			break;
		case SEARCH :
			timer -= fperiod; 
			if (timer < 0) state = ERROR; /// too long for tool selection! timeout reached
			fwd = 1;
			rev = 0;
			if (current_position == number) {
				state=FIX;
				timer_fix = timeout_fix;
			}
			break;
		case FIX :
			timer_fix -= fperiod; 
			if (timer_fix < 0) state = ERROR;  /// too long for FIX! timeout reached
			fwd = 0;
			rev = 1;
			if (fix) {
				state = FIXED;
			}		
			break;
		case FIXED :
			fwd = 0;
			rev = 0;
			changed = 1;
			if (!change) {state = IDLE;}		
			break;		
		
	}	
	last_change = change;
}

Код: Выделить всё

component turret_1325f30 "LinuxCNC HAL for 1325f30 turret tool changer";
pin in bit sens-##[32 : personality+1];
pin in bit fix;
pin in bit change;
pin in s32 number;
pin in bit reset;

pin out bit fwd;
pin out bit rev;
pin out bit err;

pin out bit changed;

pin out s32 current-position;
pin out s32 state;
pin out float timer;
pin out float timer-fix;

param r float timeout = 40.0;
param r float timeout-fix = 1.0;

variable bool last_change;

function _;
description """
Turret with one motor, fwd for unlock and rev for fixing. Individual sensors for each tool, and additional sensor for fixing.
""";
license "GPL"; // indicates GPL v2 or later
;;



// loadrt turret_1325f30 personality=10
#define ERROR 0
#define IDLE 1
#define SEARCH 2
#define FIX 3
#define FIXED 4


FUNCTION(_) {
	for (int i = 0; i<personality; i++){
		if (sens(i)){
			current_position = i;
			break;
		}
	}
	switch (state){
		case ERROR :
			fwd = 0;
			rev = 0;
			err = 1;
			if (reset) {err = 0; state = IDLE;}
			break;
		case IDLE :
			fwd = 0;
			rev = 0;
			changed = 0;
			if (change && !last_change) {
				state = SEARCH;
				timer = timeout;
			}
			break;
		case SEARCH :
			timer -= fperiod; 
			if (timer < 0) state = ERROR; /// too long for tool selection! timeout reached
			fwd = 1;
			rev = 0;
			if (current_position == number) {
				state=FIX;
				timer_fix = timeout_fix;
			}
			break;
		case FIX :
			timer_fix -= fperiod; 
			if (timer_fix < 0) state = ERROR;  /// too long for FIX! timeout reached
			fwd = 0;
			rev = 1;
			if (fix) {
				if (current_position == number) state = FIXED;
				else state = SEARCH; // Wrong instrument! Do the search again.
			}		
			break;
		case FIXED :
			fwd = 0;
			rev = 0;
			changed = 1;
			if (!change) {state = IDLE;}		
			break;		
		
	}	
	last_change = change;
}