BJT_Shop: congrats ;)
[06:50:52] <alex_joni> https://www.ohloh.net/p/emc/contributors
jepler_ is now known as jepler
seb_kuzminsky: take a look at this: http://imagebin.ca/view/BpN9pD0.html
ooh, inf velocity for one cycle?
you should zoom in and see what counts did (20K/div is not possible to see)
is there only one realtime thread in this system?
I have this too: http://imagebin.ca/view/g7PEZeW.html
this is simple servo machine at servo thread on (1khz)
do we have docs about halscope?
[18:06:38] <jepler> http://linuxcnc.org/docs/2.3/html/hal_tutorial.html#sec:Tutorial%20-%20Halscope
yuck, position-interpolated even has reversals when the incoming pulses are irregularly spaced
[19:54:26] <jepler> http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry.png
'stool' makes pulses that are in a regular, but not equally spaced, pattern
maybe I picked bad parameters for the wobble by luck; others I try are less overtly bad
and others are worse: http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry2.png
(I probably fiddled the scales since the other one)
(no, velocity isn't crossing over zero)
does stool generate bursts of pulses with gaps between bursts?
I love how these things get named.
yeah - I was wondering if it was meant to be like "shit" or "some tool"
we have a database application called 'lookey' ;)
actually, I was thinking about the minimum number of legs in a useful stool
stool makes a repeating cycle of 2 pulses. the two tunable parameters are the length of the cycle and the distance between the two pulses in the one cycle
so if cycle=5, wobble=2, then the output is !.!.. repeating over and over again
those pics are with generally more than 1 pulse per base period
the situation I think we're discussing is with less than 1 pulse per base period. Here are two with less than 1 pulse per period on average: http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry3.png http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry4.png
oh, and showing that interpolated- leads position by up to 1 count (that we knew): http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry5.png
but this plot shows that it leads by more than one count (which I thought was contrary to the implementation): http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry6.png
if two pulses arrived 980us ago and 960us ago, I think the speed estimate is based on a pulse interval of 20us, even though we have more information than that
information that makes a 20us pulse interval look quite unlikely
one last plot -- this is the worst I've been able to manufacture so far. http://emergent.unpy.net/files/sandbox/uneven-pulses-make-encoder-cry7.png
the closer wobble is to 2 the worse the error in position and velocity estimate (the "fast" pulse is fastest with wobble=2)
Guest267 is now known as skunkworks