[08:06:38] <alex_joni> http://learning.dtpm.unipa.it/emc/it/demo.htm
<- that's nice :)
Guest905: morning sam
fenn: was it arc commands or all MDI?
Guest905 is now known as skunkworks_
Guest905 is now known as skunkworks_
jepler: good morning
jepler: I'm fairly confident the last version I put on the pastebin should be ok
alex_joni: I'll try to look at it soon
jepler: ok, I'll be around today
did you guys figure out the arc thing?
the small arc takes forever - or different arc issue?
swp/alex/fenn were arguing about it all day yesterday
aw - sorry I missed that. ;)
but, I see no checkin :-)
seems everyone is hiding.
fixed the honda this weekend finally. Turned out to be a coolant temp sensor. (the cel threw a red hearing - egr issue - but after resetting the computer it threw the correct code) ohm test verified it. 25 dollar fix.
I'm so happy 'cause today I found my friends - they're in my head.
we were not arguing!
sorry, the 90s channel is on
we were discussing emphatically
did you figure anything out? I don't want to redo any work, but I'd like it fixed
I think alex hada pastebin that should be right (ish)
[15:46:17] <cradek> http://pastebin.ca/744883
yeah, that looks familiar
it has words and colors and stuff
yay for /lastlog
must be an irssi thing
why didn't he check it in?
surely all irc clients have /lastlog...?
nope, not this one!
yes, it truly is
ah - that's why I didn't see it in my log - it's not a link
does lastlog only look at the scrollback buffer, or does it seardh the log file(s)?
just the local scrollback
ok. I can do searches like firefox - press / in the log and start typing
ah, same thing then
yep. though I do need to use the mouse or do some tabbing around, since it's a GUI focus thing
oh - F6 HOME /searchterm
alex should check this in so we can test it
what's in there is wrong - no need to be nervous about changing it :-)
you could grab it from the pastebin and test it ...
ok I don't get it
I still don't see velocity being limited by a centripetal calculation
somewhere around line 190-ish?
it's overwritten at line 204
* alex_joni is back
I wonder if that check should be for tmax <1.0 or something. I don't see how you could get a negative tmax
at line 201
or 0, unless there's no movement
it's misguided 'defensive' programming
cradek: you spotted it again :)
there was a lot of code of that style in emc1 that was meant to cover up errors
there are a couple of changes in there which weren't directly related to centripetal
that's why I didn't check it in already
(for instance I separated circle and axial)
now if you have a very slow axis, a circle in XY with a short Z move should be faster than before
yeah that's cool
sometimes people have lower accel on Z
although the calculations used don't use accel
sometimes people have lower vel on Z
time = distance/vel
we should have the real TP function here
1/x accel + cruise + decel
or however you did that :D
I don't understand what you're saying
lets take only the axial move of the helix
the moves are velocity limited, but the total time doesn't include accel
it's only distance/maxvel
we assume it takes taxial = axial_len / maxvel .. right?
these times don't have anything to do with the actual time taken
think of them as parametric t, not time t
(especially since the accel calcs are in time^2)
right, but still.. if you'd have a Z with a very low accel
and XY with high accel, this doesn't really differentiate
yeah I understand what you're saying
it previously would use the slowest accel from any axis that moves
it still does that
the accels are computed further down
let me test and commit this version
then we can talk about it some more..
arcs are a huge pain
well.. it's in :)
cradek: got a chance to look at it?
alex_joni: not yet, sorry
cradek: no worries
only thing is that I'll be travelling the next couple of days
I'll look at it
I'll be around 1-2 hours
OT: one could connect more than one jogwheel for jogging.. right?
each joint should have pins for one
ok.. was a bit too lazy to look it up
yeah they do
ok, cool.. that's what I expected
I think your latest checkin is right
(I haven't run it)
debugging by staring, eh?
you don't have to worry about centripetal accel in the // COMPUTE ACCELS section, since centripetal is always orthogonal to the accel along the helix
and that section already uses the computed vel, which is clamped by centripetal accel
no I think the vel isn't used
it could accel to c and back down if the segment is long enough and the machine fast enough
* cradek kicks jmkasunich and his various underscores
oh, one thing I wondered
how can both vel and acc = helical_length / tmax ?
shouldn't it be tmax^2 for acc?
acc is wrong
fenn: it is.. isn't it?
it usually gets clamped to one of the axis values so it doesnt matter anyway
fenn: what is your video supposed to look like?
skunkworks_: supposed to be a video of me jogging the hexapod simulation around
yes, its supposed to be screwy ( i think)
ah - all I see is a top cut off view of the hexapod on the left and a partial view of emc on the right
where is it?
[19:44:38] <fenn> http://fenn.dyndns.org/pub/irc/test-0000.mpeg
it changes the color of the text in the terminal too
normally more orange than puke colored
puke colored? :P
don't go there ..
swampy is back :)
not really, I just couldn't pass that up :)
it's starting quite slow
it doesnt start that slow normally, only when i'm recording
fenn: and beeping very annoyingly
there's a very high-pitched tone here
huh. i didnt know it had any audio
well.. it does.. very annoying :D
btw.. did you see my messages the other day about the hex sim?
oh yes i think that's noise in my motherboard built in sound
about the struts jumping around?
I really think you shouldn't place both joints and world
well, otherwise i'd have to re-implement kinematics which i'm not really motivated enough to do
why would you?
to get from joint coordinates (hal pins) to world coordinates (gl stuff)
can't you just find the joints ends?
that's inverse kinematics
the hard one
oh, you don't know how the joints are rotated
can't you include the .c with a py wrapper?
i'm not sure the point though
then i'd have to make something else to update position of the platform in the main loop (in vismach)
instead of halTranslate etc
hmm.. probably :)
having access to inverse kinematics seems like a reasonable design goal for vismach though
* alex_joni wonders how complex it would be to write a generic vis*.py
* fenn refers alex_joni to the py-opengl manual :)
* alex_joni refers to the python manual first
fenn: so you agree it should be tmax ^ 2?
I don't think accel is relevant (in that way) for arcs
still.. fixing it should be ok :)
well, if you fix it so it correctly does something wrong, I'm not so sure ;)
i'd have to agree with swp
cradek: both vel and acc use the same formula
for a line, you can use a simple test to see if the length is long enough to get to full speed or whatever. for an arc, the accels are used in varying amounts along the arc, so checking the total distance traveled is pointless
alex_joni: yes, and it's right
what do you think is wrong?
acc should be in mm/s^2
as it is now its mm/s
no it's not
cvs seems slow lately
fenn: those are not really t in mm/s^2
look how they are calculated
thelix = length/acc
ta = da/accel[a]
then velocity is in mm/s^2?
who writes this crap
it's just another reusing the same variables
* alex_joni smiles
I wrote that crap
variables should be named like temporary_variable_which_is_named_for_one_use_but_has_several_over_the_execution_of_this_confusing_function
why is thelix = (helical_length / acc)
time is seconds, not seconds^2
SWPadnos: you forgot hungarian notation
add a dozen square-roots and then square the max if you want, but that would be stupid
thelix = temporary variable dealing with helix
cradek: it might be verbose, but it would be right
* cradek makes a wanking motion
what if we call it dvhelix :P
i dont see the problem with naming variables what they actually mean
fenn: lets submit a feature request for UTF encoding for C++ variables
SWPadnos: whoCaresAnyways :P
fine be a bunch of dicks
fenn: I think a comment would end this dispute..
it would make more sense if the variables were named well, and not reused. but alex had a good point - consider thelix as "temp for helix calcs", not "time to complete the helix"
anyone can find stylistic things in source code they don't like
or stylistic things they don't like in source code :)
yes, that too
one problem here is that we've all been discussing thelix and taxial as times, when in fact they're used as temps
other variables starting with t are times
there you go
yes - no doubt confusing - see how long we've been talking about it :)
the calculations are identical for acceleration. adding sqrts would make it times, true, but would obscure the fact that they work the same
SWPadnos: we talk about anything long enough
and even if you massage the units to be 'seconds' you have to ask 'time to do what?' - it's still just a parametric breakdown of the acceleration
let's drop it
time to complete the helix
* alex_joni brings out the chair
is what i thought it meant
I think it wouldn't actually mean that
I wonder.. beeing a chairman (or person).. does that mean I can whack someone with a chair?
it means you have to be extra courteous to everyone else
with a chair?
because you *are* EMC2 now
yay, glad it's no longer me, I suck at that
err - I mean - lucky tou
nice save (but you were right the first time)
so - on a separate note, the Intel ICH7 really sucks for individual PCI bus access times
it's almost as bad as a parport
at least it's 32 bits wide
reading 12 words (ADC channels) takes around 27000 cycles at 1.83 GHz
but I guess that's without DMA
not sure how to do DMA transfers yet
ah.. btw, wanted your oppinion on a scope
[20:40:18] <alex_joni> http://www.arc.ro/index.php?page=p21
can't find an english page
[20:40:37] <alex_joni> http://www.trinstruments.com/products/measuring-instruments/oscilloscopes/portable-scopes/ox-7042-c.html
sadly, many do these days
Agilent, Tektronix, LeCroy ...
cradek: yeah, don't like that part..
1 GS/s seems excessive for a 40 MHz input bandwidth
it actually says "windows-like"
yeah, it looks close to windows, but not 100%
played with a similar one today
that's a pretty low res screen for a scope - 320x240
that one is about 850 EUR + VAT
well, without really studying the specs too well, I'd say those woulc be good for motor tuning and when you need "a little more" than a multimeter. I wouldn't really consider them for lab use (like diagnosing electronic designs or that kind of thing)
ok - back to work for me
cradek: the problem is that the acc value gets sent on to the motion controller later, and it is expecting real world value in mm/s^2
fenn: look at the code!
the intermediary values aren't "right"
but the result is
SWPadnos: that seems like startlingly bad performance -- is ICH7 worse than other chipsets in this respect?
it really cusk, but I can't say for sure if it sucks a lot more than other chipsets
I did try enabling burst reads on the 9054, but then I looked at the ICH7 manual, which says it does single read operations (and neglects to mention burst reads, so I assume it doesn't do them)
* alex_joni goes to bed :)
good night all
I have a header file that I want to include in both a userspace hal component and a realtime component - much like sampler / streamer
the two source files are in separate dirs (which I can change to fix the problem, but that's not the point)
the header is currently in hal/user_comps/
I have added the required lines to the Submakefile there (and the HEADERS list) so it gets copied to the ../include directory, and I have verified that the header is in the include dir
gcc ccomplains that the header isn't found
can you see the actual command to gcc?
so I make a symlink from the components dir to the header in the user_comps dir, and I have the same problem
no - what is it, make V=1 or something to get full output?
what I'm puzzled by is that the header is now apparently in 3 places (2 actual plus a symlink), and it still can't be found
I'm pretty sure it's spelled correctly
what's the error message?
blahblah/waveoutput.c:34:24: error: pulse_data.h: No such file or directory
ok - I had made the symlink in the drivers dir instead of the components dir
but it still bothers me that the header isn't found from the ../include dir