#emc-devel | Logs for 2006-03-01

[00:35:15] <cradek> hi again
[00:35:20] <jmkasunich> hello
[00:35:28] <cradek> dave-e said he got an axis to jog
[00:35:37] <jmkasunich> thats good
[00:35:48] <jmkasunich> first we jog, then we run ;-)
[00:35:58] <cradek> yep
[00:38:56] <jmkasunich> how can I configure the ubuntu/gnome desktop behavior?
[00:39:14] <cradek> what about it? (I'm not a gnome expert)
[00:39:22] <jmkasunich> specifically, I'd like to enable the "snap" behavior when moving windows around
[00:39:35] <jmkasunich> kde and xubuntu both have it by default
[00:39:44] <cradek> you mean they prefer to line up to the edges of stuff?
[00:39:47] <jmkasunich> yes
[00:40:05] <cradek> I don't think it has that. That's one of the reason I went back to the icewm window manager.
[00:40:16] <cradek> I notice it's in the next gnome release though.
[00:40:24] <jmkasunich> thats just one of a number of little annoyances
[00:40:30] <cradek> yeah
[00:40:58] <jmkasunich> I was gonna give it a try tonight (IOW, instead of bitching about gnome's default behavior, try to make it work like I want)
[00:41:13] <jmkasunich> but I think I might just go back to KDE
[00:41:22] <cradek> what parts of the desktop environment do you use?
[00:41:34] <jmkasunich> shells ;-)
[00:41:38] <cradek> I never use the graphical file browser (windows explorer clone) or the icons on the desktop
[00:41:39] <jmkasunich> browser
[00:41:54] <cradek> maybe you should try switching to icewm
[00:41:55] <jmkasunich> I don't use icons (well, extremely rarely)
[00:42:09] <jmkasunich> I use kate
[00:42:14] <cradek> it's 100% configurable (and has a sane default configuration)
[00:42:43] <jmkasunich> I like konqueror - much faster startup than firefox, does 95% of what I want from a browser
[00:42:54] <jmkasunich> I use firefox for the other 5%
[00:42:54] <cradek> hmm, sounds like you want kde
[00:43:08] <jmkasunich> well, I'm accustomed to KDE
[00:43:38] <jmkasunich> there could be similar functionality for icewm and/or gnome, but if I don't know about it....
[00:44:01] <cradek> if your connection is fast, I bet you could additionally install all of kde in short order
[00:44:27] <jmkasunich> I did install kate (which dragged in a ton of crap)
[00:44:44] <cradek> maybe kdesktop is the package you want
[00:45:04] <jmkasunich> I'm not thrilled about the idea of having two big and bloated desktop/window managers installed
[00:45:27] <cradek> then try icewm, seriously
[00:45:41] <cradek> it's just a window manager, ca late-90s
[00:45:54] <cradek> you know, kind of like unix?
[00:46:14] <jmkasunich> heh
[00:46:20] <jmkasunich> now that is annoying...
[00:46:43] <jmkasunich> I must have fat-fingered the wrong key, and my x-chat tab became a separate window
[00:46:54] <jmkasunich> how to put it back is non-obvious
[00:47:11] <cradek> I use irssi, a text-mode irc client, ca late-90s
[00:47:15] <cradek> haha
[00:47:20] <cradek> that's not how
[00:48:09] <jmkasunich> peez-o-sheet
[00:48:10] <cradek> apparently not that button
[00:48:16] <cradek> I use irssi, a text-mode irc client, ca late-90s
[00:48:29] <jmkasunich> I actually got it back, File->attach tab
[00:48:43] <jmkasunich> two seconds later the main x-chat window closed
[00:50:15] <jmkasunich> hmm, synaptic search doesn't find icewm
[00:50:21] <jmkasunich> or anything beginning with ice
[00:50:37] <jmkasunich> found libice6 and friends
[00:50:39] <cradek> ii icewm 1.2.22-2ubuntu wonderful Win95-OS/2-Motif-like window manag
[00:50:51] <cradek> it's even a ubuntu package
[00:51:07] <cradek> ah it's in universe
[00:54:57] <jmkasunich> does icewm have that nifty snap feature?
[00:55:04] <cradek> yes
[00:55:07] <jmkasunich> (amazing how you get used to things like that)
[00:55:14] <cradek> icewm does virtually everything right
[00:55:21] <cradek> you can run everything from the keyboard
[00:55:38] <jmkasunich> ok, now I have a nice list of icewm packates
[00:55:54] <jmkasunich> heh, icewm-lite
[00:55:57] <cradek> you can bind keys however you like (printscreen always starts a terminal for me)
[00:56:07] <jmkasunich> icewm is known for being lite, this must be very lite
[00:56:30] <cradek> yeah, I run the full-featured version on my 486 laptop
[00:56:38] <cradek> and it's just as fast as ever
[00:56:53] <jmkasunich> downloading
[00:56:58] <jmkasunich> only a meg or so ;-)
[00:57:39] <jmkasunich> If I like it here I should stick it on my laptops
[00:57:47] <cradek> yeah
[00:57:55] <cradek> once you have a config you like, tar up ~/.icewm and copy it around
[00:57:59] <jmkasunich> I already put xubuntu on those
[00:58:01] <cradek> you know, just like unix :-)
[00:58:16] <jmkasunich> you know, I never used unix
[00:58:33] <cradek> really? you sure missed something
[00:58:59] <cradek> "oh, I got that set up right, just copy my .something file"
[00:59:00] <jmkasunich> TRS-80, then CPM-80, CPM-86, DOS, WIN-3.1, WIN95, and WIN2K (at work)
[00:59:30] <jmkasunich> started with linux about 3-4 years ago, using BDI-TNG (RH7.x with KDE 2.something)
[00:59:41] <cradek> I think I went commodore, dos, os/2, linux, bsd, linux
[00:59:52] <cradek> never really was a serious windows user
[01:00:19] <jmkasunich> when did you get first exposure to unix/linux?
[01:00:43] <cradek> it's funny, the first distribution I had, I bought from CD ROM WORLD here in Lincoln
[01:00:54] <cradek> CDs were so new, there was a store that sold them
[01:01:03] <jmkasunich> oh, I just remembered a couple more
[01:01:04] <cradek> no theme, just the software had to be on a CD ROM
[01:01:09] <cradek> very funny actually
[01:01:09] <jmkasunich> heh
[01:01:17] <jmkasunich> TOPS-20
[01:01:32] <jmkasunich> and I think I did actually use unix for a semester in college
[01:01:36] <cradek> so I bought that and fought to get it to work (very crappy early distribution), learned some from the process, never really looked back
[01:01:47] <jmkasunich> on a PDP-11 IIRC
[01:01:56] <cradek> heh wow, that's before my time
[01:02:13] <cradek> after a few years, I got a job using my unix skills in a software shop, and I'm still there
[01:02:29] <jmkasunich> I was the first class in college that didn't use punch cards for the introduction to programming class
[01:02:32] <cradek> been there 11? years now
[01:02:40] <cradek> ha, wow
[01:02:44] <jmkasunich> we used pascal on the DEC TOPS-20 timeshare system
[01:02:52] <cradek> my first college programming class was also pascal
[01:02:53] <jmkasunich> this was fall of 1980
[01:03:19] <jmkasunich> The PDP-11 lived in the microprocessors lab in a cage, and was rarely if ever used
[01:03:30] <jmkasunich> I got to use it for some senior project stuff
[01:04:18] <jmkasunich> but those two (the TOPS and the PDP) were my only experiences with the big machine/shared machine world
[01:04:20] <cradek> I think I have my first linux CD still somewhere, wonder if anything would boot it
[01:04:24] <jmkasunich> everything else was single user
[01:04:49] <jmkasunich> the first computer I personally owned was a Kaypro, CPM-80
[01:04:50] <cradek> I do big-machine every day still... for developers at work
[01:05:10] <jmkasunich> yeah, I googled the company - fancy software
[01:05:26] <cradek> yeah, interesting stuff
[01:05:41] <cradek> I take care of the programmers but don't program much there.
[01:05:56] <jmkasunich> care and feeding of programmers?
[01:06:03] <cradek> yeah pretty much
[01:06:17] <cradek> and various other things
[01:07:07] <cradek> so I'd guess I started using linux somewhere around 94?
[01:07:25] <cradek> swore off it for a while because the distros were so crappy compared to freebsd
[01:07:43] <cradek> later, I went back to linux for desktops because it seemed like a better desktop platform
[01:07:57] <cradek> still always have bsd servers
[01:09:59] <cradek> http://news.bbc.co.uk/2/hi/technology/4755492.stm
[01:10:29] <cradek> today I see articles like this, and think to myself: my computer has never been like this. It works much better than those computers, and I didn't pay anything for it.
[01:10:40] <jmkasunich> yeah
[01:11:20] <cradek> I don't understand why people still make fun of linux users - they live with their parents, they've never talked to a girl, etc
[01:11:22] <jmkasunich> what kind of systems do you admin?
[01:11:42] <jmkasunich> those are generic geek stereotypes
[01:11:52] <jmkasunich> and linux hasn't lost the geek flavor yet
[01:12:04] <cradek> many unix flavors, several PC based, some HP workstations (not used much anymore)
[01:12:33] <jmkasunich> sounded from the website that the company's SW is mostly doze based
[01:12:47] <jmkasunich> or do they cross develop on *nix boxes?
[01:12:59] <cradek> well most people buy windows today. virtually all development is on linux.
[01:13:03] <cradek> we still sell both.
[01:13:14] <jmkasunich> ah
[01:13:16] <cradek> when I started we were unix-only. marketing forces changed that 5? years ago
[01:13:34] <jmkasunich> sad but true
[01:13:52] <cradek> I miss it. I did support for a while, and all of our customers had modems on their unix servers, and I could fix damn near anything
[01:14:02] <cradek> now we have poor saps on the phone saying "click this, click that"
[01:14:04] <jmkasunich> when I started with Rockwell, the high end cad (pc board layout, FPGA place and route) were unit (sun)
[01:14:14] <cradek> yep
[01:14:39] <jmkasunich> I very briefly used unix for fpgas about 1993 or 4
[01:14:52] <cradek> I ran autocad on a sun at the previous job
[01:15:01] <jmkasunich> never used the board layout stuff, used orcad and now pads
[01:15:39] <cradek> % uptime
[01:15:42] <cradek> % uptime 7:15pm up 1674 days, 9:01, 1 user, load average: 0.16, 0.03, 0.01
[01:15:49] <cradek> one of my very old HP workstation machines
[01:15:51] <jmkasunich> nice
[01:16:03] <cradek> unfortunately, I had to shut it down when we moved to the new office
[01:16:10] <jmkasunich> I could never approach that because I don't have UPS
[01:16:37] <cradek> yeah you definitely need a UPS
[01:16:51] <cradek> but most PC hardware won't even last this many years. cheap fans, cheap power supplies, etc
[01:17:02] <jmkasunich> yeah
[01:17:12] <cradek> this machine has had NO hardware replaced and has been on since 1994
[01:17:18] <jmkasunich> I just brought in a box that I want to fire up one of these days
[01:17:29] <cradek> sorry, 1991
[01:17:36] <cradek> drwxr-xr-x 2 root root 8192 Oct 17 1991 lost+found
[01:17:42] <jmkasunich> HP Kayak XM600 workstation
[01:17:53] <cradek> not familiar with that one
[01:17:57] <cradek> what processor?
[01:18:00] <jmkasunich> just a high end pc
[01:18:02] <cradek> ah
[01:18:10] <jmkasunich> dual pentuim 3's, rambus memory, scsi
[01:18:27] <jmkasunich> but a lot better than generic consumer grade
[01:18:33] <cradek> yeah
[01:18:49] <cradek> I have mixed feelings because I want it to not break, but if it does, I want to go buy parts locally
[01:19:04] <cradek> so I typically don't use special server hardware.
[01:19:23] <jmkasunich> RAIH ;-)
[01:19:29] <cradek> exactly
[01:19:49] <cradek> that's what that pile in the basement is for, even if the HR manager hates it
[01:19:50] <jmkasunich> I have about 5 spare CPU boards for the compile farm
[01:20:09] <jmkasunich> unfortunately only the original 2 power supplies, and one of them died a month or so back
[01:20:16] <cradek> yikes
[01:20:19] <cradek> that runs them all?
[01:20:24] <jmkasunich> yeah
[01:20:27] <cradek> ow
[01:21:07] <jmkasunich> remember these are 200MHz Pentiums, with 128M ram, 1 disk per CPU, no CD-ROM or other drives, and no 200W graphics cards
[01:21:22] <cradek> true.
[01:21:40] <jmkasunich> right now I'm only running 5 of the 8 slots
[01:21:57] <jmkasunich> the system was designed to run on one supply (the second is for reduncancy, not load)
[01:22:06] <cradek> I see
[01:22:11] <jmkasunich> redundancy ;-)
[01:22:28] <cradek> when will we get a ubuntu slot?
[01:22:41] <jmkasunich> when I get off my lazy ass and install it
[01:22:54] <cradek> I suppose we really don't need a slot that matches what most? of the developers are using
[01:23:33] <jmkasunich> might still be good to have a "clean" system, with only the stock ubuntu packages and a certain list of others (kernel, rtai, etc)
[01:23:59] <jmkasunich> that would catch dependencies on packages that we might have installed, but joe user doesn't
[01:24:07] <jmkasunich> (like bwidget for example)
[01:24:37] <jmkasunich> ok, icwem is installed (about 20 mins ago ;-)
[01:24:41] <cradek> yeah, but it does seem most useful for testing legacy systems
[01:24:45] <jmkasunich> how to I start using it instead of gnome
[01:24:54] <cradek> on the sessions menu before you log in
[01:25:36] <jmkasunich> it will list all the installed window managers?
[01:26:37] <cradek> I think so
[01:26:44] <cradek> I'm not sure how it knows what to list
[01:27:00] <jmkasunich> guess I'll find out
[01:27:31] <jmkasunich> bye for now ;-)
[01:29:15] <jmkasunich> I could get to like this
[01:29:16] <cradek> http://timeguy.com/cradek-files/emc/dot.icewm.tar.gz
[01:29:27] <cradek> here's my setup if you want to copy something already working
[01:29:35] <cradek> it's a simple look/feel and some key shortcuts
[01:30:10] <cradek> ah crap, it's set up for gnome - comment out the first couple lines in .icewm/preferences
[01:30:30] <jmkasunich> I knew it was a good thing when the default has a toolbar button to launch a shell
[01:30:36] <cradek> and not much else
[01:30:40] <jmkasunich> right
[01:30:49] <cradek> and it loaded in 3, not 30 seconds
[01:32:04] <jmkasunich> log out and back in to make the .icwm file take effect?
[01:32:15] <cradek> no, restart icewm on the menu
[01:32:59] <jmkasunich> don't see that
[01:33:08] <cradek> logout -> restart icewm?
[01:33:21] <cradek> not sure, I have a different menu here
[01:38:48] <jmkasunich> well, that did NOT go well
[01:39:34] <jmkasunich> once I installed your .icewm, (and forgot to delete certain lines from certain files) it gave me a purple screen with absolutely nothing on it
[01:39:40] <jmkasunich> no menu bar or anything
[01:39:46] <jmkasunich> completely unresponsive
[01:40:24] <jmkasunich> ping cradek?
[01:41:54] <jmkasunich> well poo
[01:42:32] <cradek> back
[01:42:54] <jmkasunich> dunno what happened, but I made it much worse.... :-(
[01:42:55] <cradek> ah crap, it's set up for gnome - comment out the first couple lines in .icewm/preferences
[01:43:07] <cradek> said this earlier, you must have missed it
[01:43:17] <jmkasunich> saw it, forgot to do it
[01:43:46] <jmkasunich> then when I had ctrl-alt-F1 to a tty and logged in, I could only remember that some lines in some file needed to go
[01:43:58] <cradek> heh
[01:43:59] <jmkasunich> decide the safe bet was relete the whole .icewm tree and start fresh
[01:44:04] <cradek> yeah
[01:44:17] <jmkasunich> only problem is I mis-typed the rm command
[01:44:21] <cradek> well I'll quit helping (making it worse)
[01:44:26] <jmkasunich> deleted my home directory
[01:44:33] <cradek> you're kidding?
[01:44:39] <jmkasunich> I kid you not
[01:44:41] <jmkasunich> dumbass
[01:44:45] <cradek> damn
[01:44:53] <jmkasunich> fortunately this is my "temporary ubuntu try it" install
[01:45:11] <jmkasunich> my real, had it for a year or more home directory is on another partition
[01:45:24] <cradek> and how are your backups?
[01:45:38] <jmkasunich> backups? what backups?
[01:45:42] <cradek> ouch
[01:45:48] <cradek> time for dinner, bbl
[01:45:50] <jmkasunich> I'm not entirely sure what I erased
[01:46:02] <jmkasunich> an emc checkout or two, easily replaced
[01:46:15] <jmkasunich> ok
[01:46:56] <jmkasunich> manuals for KVM switches, ditto
[02:59:59] <skunkworks> jmk?
[03:00:41] <jmkasunich> yeah
[03:01:24] <jmkasunich> whats up?
[03:01:45] <skunkworks> what are your views on using something like a gecko servo drive vs a servo card + amp with emc2
[03:01:58] <jmkasunich> ?
[03:02:08] <jmkasunich> the gecko servo drives need step/dir inputs
[03:02:08] <skunkworks> I don't like the idea of emc not doing the servo loop.
[03:02:13] <skunkworks> right
[03:02:59] <jmkasunich> I don't know how much hardware hackery would be needed to disable the gecko internal loop
[03:03:05] <jmkasunich> void the warranty thats for sure
[03:03:21] <skunkworks> I am trying to talk myself out of the easy way out.. ;)
[03:03:36] <skunkworks> oh yes - that was only in the back of my mind ;O
[03:05:13] <skunkworks> how do you think it would work using the encoder inputs also to emc? that would I assume be only for actual position - not any kind of inner - outer servo loop?
[03:05:18] <SWPadnos> you can use the G3xx as velocity drives by lifting pin 2 on the LM33x and applying a 0-5V (I think) signal there
[03:05:44] <SWPadnos> lemme see if I can find the email from Mariss on that
[03:05:49] <jmkasunich> you'd still need a card that can read the encoder pulses
[03:05:54] <SWPadnos> yep
[03:05:59] <jmkasunich> and a DAC to drive the gecko
[03:06:20] <jmkasunich> so in essence you're buying the gecko to get a PWM modulator and power stage
[03:06:21] <SWPadnos> yep - it would just bypass the step/dir part, and use it as a "normal" servo drive
[03:06:26] <SWPadnos> right
[03:06:35] <jmkasunich> (which on second thought isn't that bad an idea ;-)
[03:06:45] <SWPadnos> heh - they are pretty cheap, even for that :)
[03:06:48] <skunkworks> it is awfully cheap for
[03:06:55] <jmkasunich> I wonder what dmessier is smoking?
[03:06:59] <skunkworks> for a servo drive either way
[03:07:03] <SWPadnos> CanadaCrack
[03:07:13] <skunkworks> :) that is why I am here.
[03:07:39] <skunkworks> I noticed that a few days ago when I was talking to him.
[03:07:40] <SWPadnos> he still won't believe that Canada is the second largest country, not the first
[03:08:06] <jmkasunich> looking at mercator projections too long
[03:08:13] <jmkasunich> or however you spell it
[03:08:22] <SWPadnos> heh - the first is Russia, so you get the same problems :)
[03:10:17] <skunkworks> what kind of cards are out there that emc could use to output a analog 0-5 volt signal - cheap?
[03:10:35] <jmkasunich> cheap is the challenge
[03:10:49] <skunkworks> I figured?
[03:10:51] <SWPadnos> depends on what you call cheap
[03:10:53] <jmkasunich> STG, motenc, vital, but I don't think any are cheap
[03:10:58] <skunkworks> I figured
[03:11:00] <jmkasunich> does m5i20 do analog?
[03:11:02] <SWPadnos> www.measurementcomputing.com may have something
[03:11:10] <SWPadnos> not directly, but there's a daughtercard
[03:11:32] <jmkasunich> the measurement computing boards (if any) would need HAL drivers
[03:11:41] <SWPadnos> yep
[03:11:51] <jmkasunich> but more drivers is a good thing, if there are decent specs for the board, we can write a driver
[03:11:52] <SWPadnos> they're pretty easy to program for
[03:12:11] <SWPadnos> there are register specs, or at least there were when I last wrote a Linux-based program for one ;)
[03:13:07] <skunkworks> so is the 0 to 5 volt to the drive 0 to 2.5 forward and 2.5 to 5 reverse? where 2.5 is 0 output.
[03:13:25] <SWPadnos> right - I forgot to look fo rthe appropriate message :)
[03:13:32] <skunkworks> just thinking out loud. thanks
[03:15:34] <skunkworks> could you close the loop with a encoder input to the printer port?
[03:15:57] <skunkworks> or would that not be fast enough?
[03:15:59] <jmkasunich> as long as the encoder rate is low enough
[03:16:09] <jmkasunich> depends on the system
[03:16:21] <SWPadnos> yes, if the computer can run roughly 50-100% faster than the needed step pulse stream (for a "regular" gecko system)
[03:16:25] <jmkasunich> 5000 count per rev encoder at 3000RPM, no
[03:16:30] <skunkworks> ok - so find a decent analog out card with digital inputs to use for incoders.
[03:16:43] <jmkasunich> 500 count per rev encoder at 500 RPM yes
[03:17:04] <SWPadnos> specifically, quadrature inputs - not just digital inputs, which are basically what the parport is
[03:17:44] <jmkasunich> SWP: I think he means generic dig ins, connected to the HAL software based encoder counter
[03:18:05] <SWPadnos> right - like I said, basically no difference between parport and some other digital inputs
[03:18:42] <SWPadnos> (unless they're made for quadrature input)
[03:19:00] <jmkasunich> I must have missed something
[03:19:19] <jmkasunich> DAC + generic dig ins (parport or 8255 or whatever) works for slow encoder count rates
[03:19:24] <jmkasunich> up to maybe 10KHz
[03:19:46] <jmkasunich> DAC & encoder specific dig ins (hardware counters) works for much higher count rates
[03:20:13] <SWPadnos> agreed
[03:20:19] <jmkasunich> I pretty sure skunkworks was talking about the former, not the latter
[03:20:32] <SWPadnos> I guess my point was that there's no real differnce between a digital I/O card and a parport
[03:20:52] <skunkworks> so a decent servo card with encoder inputs uses the card to count the encoder info - then emc just sees the number. instead of having to have emc do the "math"
[03:20:58] <skunkworks> god I type slow.
[03:21:00] <SWPadnos> right
[03:21:30] <SWPadnos> well - the counting. emc still does the math ;)
[03:21:43] <skunkworks> right - I think I get it.
[03:22:09] <skunkworks> so there is already hal "parts" to do the encoder counting - from digital inputs?
[03:22:16] <jmkasunich> yes
[03:22:47] <SWPadnos> heh - I thought I remembered that - it was alex that asked Mariss in the first place :)
[03:22:49] <jmkasunich> that was actually one of the first HAL modules written
[03:22:53] <skunkworks> - thats what you where using with your H bridge and encoder on the parrellel port?
[03:23:27] <jmkasunich> yes
[03:23:30] <SWPadnos> Alex,
[03:23:32] <SWPadnos> Understand hacking the drive voids the warrantee. Having said that,
[03:23:33] <SWPadnos> auto-reset the drive by shorting ERR/RES to ENC+. Cut the trace going
[03:23:35] <SWPadnos> to pin 2 of the LM393 which is immediately behind the LIMIT trimpot.
[03:23:36] <SWPadnos> Connect a 500 Ohm pot across ENC+ to ENC- and take the wiper to pin 2
[03:23:38] <SWPadnos> of the LM393.
[03:23:39] <SWPadnos> The motor off position will be half-scale on the pot.
[03:23:41] <SWPadnos> The drive will FAULT normally for over-current. The LIMIT trimpot
[03:23:42] <SWPadnos> will operate normally as a torque limit control.
[03:23:44] <SWPadnos> Mariss
[03:23:45] <SWPadnos> there you go - 2.5V = stopped
[03:24:11] <jmkasunich> he diidn't say 2.5V
[03:24:22] <SWPadnos> half scale = 2.5V
[03:24:34] <skunkworks> cool - and yes I know that will totaly void the warrentee.
[03:24:36] <jmkasunich> are enc+ and enc- = +5 and gnd?
[03:24:40] <SWPadnos> yep
[03:24:46] <jmkasunich> * jmkasunich shuts up
[03:24:49] <SWPadnos> those are the encoder supply
[03:25:25] <SWPadnos> you must use feedback though, and can't go up to 5V or down to 0, or you'll fault the drive
[03:26:19] <SWPadnos> if you want to find the messages, go to the Gecodrive yahoo group, and look for a message from "Alex" on 3/26/2005, with subject "G340 without encoder"
[03:26:30] <skunkworks> feedback as in encoder back to emc - emc running the gecko
[03:26:36] <SWPadnos> yes
[03:27:32] <jmkasunich> limiting the dac signal in HAL is easy
[03:28:05] <skunkworks> thank you. - jmk - doesn't the max accelleration per axis do that?
[03:28:26] <skunkworks> or am I thinking to simply
[03:28:51] <SWPadnos> you can be paranoid and tun the PID output through a limiter as well
[03:28:56] <SWPadnos> s/tun/run/
[03:28:57] <jmkasunich> max accell limits what the PID loop is asked to do
[03:29:17] <jmkasunich> the DAC signal is what the PID asks the motor to do
[03:29:19] <SWPadnos> and the PID already has a maxoutput parameter (iirc)
[03:29:28] <jmkasunich> right
[03:29:43] <jmkasunich> that my definition of "easy" ;-)
[03:29:57] <SWPadnos> too easy, there must be a haqrder way
[03:30:02] <SWPadnos> garggh
[03:30:26] <skunkworks> hmm - more reading I guess. the wiki page on servo tuning using halscope is pretty neet.
[03:30:34] <skunkworks> neat
[03:30:42] <SWPadnos> leet
[03:31:00] <SWPadnos> 1337, even
[03:31:08] <jmkasunich> retch
[03:31:17] <SWPadnos> heh
[03:31:26] <SWPadnos> I also hate leetspeek
[03:32:25] <skunkworks> takes me 4 times reading it to get the meaning. too much work
[03:33:09] <skunkworks> Thanks guys. I am learning - I think.
[03:33:31] <SWPadnos> I've actually seen someone abbreviate the word "any" with the (much shorter version) "n/e"
[03:33:59] <SWPadnos> so much less typing, I can see why they chose to do that
[03:34:24] <skunkworks> :)
[05:46:42] <SWPadnos> SWPadnos is now known as SWP_Away
[17:32:15] <SWP_Away> SWP_Away is now known as SWPadnos
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