Force must be changed when moving from pattern to pattern in contact

nedlecky / AutoGrind

Custom grinding project for Olympus-Controls and Tosoh Quartz

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Force must be changed when moving from pattern to pattern in contact #250

Closed nedlecky closed 2 years ago

nedlecky commented 2 years ago

Force is never changed when moving from pattern to pattern in contact if different force is specified.

nedlecky commented 2 years ago

Fixed and tested. Added realtime (1 Hz) force feedback to verify.

nedlecky commented 2 years ago

Problems found with the fix... the force setting is incremental to existing force. Simply calling the code with a delta Force to increase or decrease pressure is not stable and causes the force measurement commands to give erroneous results. Implemented a lift and recontact strategy that seems to be working.

nedlecky commented 2 years ago

Working satisfactorily!