Switch ARM configurations to velocity-mode

machinekit / machinekit-cnc

CNC stack split out into a separate package

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Switch ARM configurations to velocity-mode #10

Open ArcEye opened 6 years ago

ArcEye commented 6 years ago

Issue by cdsteinkuehler Tue Apr 15 18:45:33 2014 Originally opened as https://github.com/machinekit/machinekit/issues/131

Switch to velocity-mode for PRU step/dir generation with HAL based PID loop to allow dead-band adjustment and eliminate "hunting" on the direction output.

ArcEye commented 6 years ago

Comment by rmtucker Fri Apr 18 19:14:19 2014

Well we have been running in velocity-mode for some time without any adverse problems,So well proven. But strangely we have never needed to put a figure in the deadband.

ArcEye commented 6 years ago

Comment by machinekoder Wed Feb 14 16:19:04 2018

In the meantime, PRU pin hunting has been fixed. A problem in some cases is still the joint following errors which can be caused by some types of GCode. Not sure if this is related to PRU or the BBB as a platform though. I experience this problem more frequently with RT_PREEMPT.