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[03:06:27] <KGB-linuxcnc> 03Dewey Garrett 05dgarr/demo_appsv3 d602602 06linuxcnc 10(39 files in 9 dirs) linuxcnc,pickconfig support .demo files * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=d602602
[03:06:27] <KGB-linuxcnc> 03Dewey Garrett 05dgarr/demo_appsv3 3386dc6 06linuxcnc 10scripts/latencyplot latencyplot: remove declining rtai usage * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=3386dc6
[03:07:32] <KGB-linuxcnc> 05dgarr/demo_appsv2 dad40cb 06linuxcnc 04. branch deleted * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=dad40cb
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[05:59:05] <linuxcnc-build> build #50 of 4017.deb-wheezy-armhf is complete: Failure [4failed apt-get-update shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4017.deb-wheezy-armhf/builds/50 blamelist: Dewey Garrett <dgarrett@panix.com>
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[19:24:10] <KGB-linuxcnc> 03Dewey Garrett 05dgarr/demo_appsv4 ce1debd 06linuxcnc 10(41 files in 10 dirs) configs/apps: new directory and .demo support * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=ce1debd
[19:25:19] <KGB-linuxcnc> 05dgarr/demo_appsv3 3386dc6 06linuxcnc 04. branch deleted * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=3386dc6
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[20:12:11] <andypugh> I have been thinking about the toolchanger that the guy hoped to have working in 2 weeks. (He has gone quiet, so I suspect that he has been persuaded it is a 2-day job in Mach and is now ripping everything out to fit a Smoothstepper and Geckos)
[20:12:51] <andypugh> Anyway, be that as it may, it seems to me that there is no obvious way for a HAL component to move a G-code controlled axis.
[20:13:43] <cradek> I've done that with a component that's just like limit3 but I don't recall the details
[20:14:05] <andypugh> A component can supply an alternative source of input for the spindle PID, and can lie about the axis position to the system.
[20:14:11] <cradek> the component knew the offsets and had handshaking in and out like "go up now" and "ok I made it go ahead"
[20:14:28] <cradek> then the sequencing was trivial in CL
[20:15:02] <cradek> this was a 5 axis machine so this goop was built right in to the kins
[20:15:16] <andypugh> That would certainly be one solution.
[20:15:17] <cradek> kins is not the worst place to put it
[20:15:27] <cradek> well it worked fine
[20:15:41] <andypugh> I have been thinking for a while that a per-axis pin for injecting external offsets wouldn't be a terrible idea.
[20:15:59] <cradek> using M6 remap and writing all the sequencing in gcode instead would be tempting today
[20:16:29] <andypugh> It's not too hard to insert an offset using (for example) the "offset" comp.
[20:16:48] <andypugh> But I was thinking in terms of moving to absolute machine positions, and that seems harder.
[20:17:10] <cradek> yeah that's not really an offset then
[20:17:29] <cradek> at the kins level you have cleaner numbers
[20:17:45] <andypugh> (At the very least the component needs to be able to read in the "axis.N.motor-offset" pin to be able to calculate machine position from the axis.N.motor-position-cmd pin.
[20:18:00] <cradek> I drove to pensacola 1.5 yrs ago and wasn't anxious to do it again or I might've helped the guy
[20:18:41] <andypugh> For the toolchanger in question I guess a "toolchange at G33" (or whatever it really is) plus a fixed clearance offset would work.
[20:18:42] <cradek> do you think M6 remap isn't the way to go for him? I'd sure try it first.
[20:19:02] <andypugh> I think he is too dumb to figure out a remap in 2 weeks.
[20:19:18] <andypugh> Not tha most people aren't.
[20:19:25] <cradek> yes his umbrella would use tool change position, and one simple upward joint offset
[20:19:38] <cradek> oops brb
[20:20:17] <andypugh> I guess that there are people who could learn all that they need to know from scratch, and implement it, in 2 weeks. But those are much cleverer people than me.
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[20:25:29] <linuxcnc-build> build #51 of 4017.deb-wheezy-armhf is complete: Failure [4failed apt-get-update shell_3] Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/4017.deb-wheezy-armhf/builds/51 blamelist: Dewey Garrett <dgarrett@panix.com>
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[20:56:49] <cradek> andypugh: clearly that's why he wanted to hire an expert. I don't see why people had such a negative reaction to that... it's unlikely it would work without flying someone there, but that's the only thing I thought was unrealistic about his request
[20:57:58] <andypugh> No, it seemed like the only likely way to make it work. Unfortunately I think that most of the folk who could help are more short of time than money.
[20:58:18] <archivist> or too far away
[20:58:29] <cradek> I bet you are right
[20:58:37] <andypugh> And I dobt he would want to fly Visteurs in from Latvia.
[20:58:43] <JT-Shop> I've got one guy shipping a machine to me to convert
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[21:02:15] <cradek> I have done remote retrofit help work like that, but with a pretty-smart-about-stuff-that-isn't-mathy-or-programming guy on site
[21:03:12] <cradek> if I was short on money or long on time and energy, I may have tried this job
[21:03:26] <cradek> but, eh
[21:03:42] <andypugh> I am probably going to write a toolchanger comp for him. Hust because it looks easy. :-)
[21:04:14] <cradek> I would sure use ladder
[21:04:17] <andypugh> (Or, rather, it looks like something easy for me and hard for him)
[21:04:28] <cradek> I would be really reluctant to write sequencing in comp, because I've seen the results many times
[21:04:39] <andypugh> He probably should too. But I have never learned Ladder, and now is not the time.
[21:04:43] <cradek> writing state machines sucks
[21:04:46] <cradek> heh
[21:05:07] <andypugh> I quite like writing state machines. I don't know why.
[21:05:15] <cradek> the hard part is figuring out the sensors on the thing and tracking its position
[21:05:37] <andypugh> And catching the potential error states without horrible things happening.
[21:05:44] <cradek> ideally it would have a prox for "pocket facing the spindle is empty" to avoid crashyness (I had my guy add one)
[21:05:58] <cradek> yep exactly
[21:06:28] <cradek> it should be able to home and tell whether the special pocket is empty
[21:07:04] <JT-Shop> andypugh, have you seen my classicladder tool changer sim?
[21:07:20] <andypugh> I think his arm is pneumatic, so in this case it is probably not so bad if the in-spindle tool alnd selected tool touch. They will just prevent the "arm etended" prox from triggering.
[21:07:42] <cradek> ah maybe so
[21:08:05] <cradek> so it's not destructive, but it's harder to recover from than erroring and never starting
[21:08:45] <andypugh> I had plans for a toolchanger, but I really have no need for one.
[21:09:04] <cradek> hint for you: if it's not homed yet, assume the pocket facing the spindle is where the loaded tool came from, put the tool away, THEN home
[21:10:02] <cradek> you don't need any knowledge about the past other than that
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[21:13:56] <cradek> bbl
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[23:50:23] <memleak> andypugh, you said you compile native on ARM right?
[23:51:13] <andypugh> I have been doing so, yes.
[23:51:25] <memleak> any troubles so far minus speed / performance?
[23:52:14] <memleak> i've heard rumors about compiling native on ARM is bad practice but i have yet to actually see such a case
[23:52:16] <andypugh> The compile goes as well as can be expected. The Udoo is quad-core, so it's no slouch.
[23:52:40] <memleak> buggy code output / toolchain problems
[23:53:30] <andypugh> No, no issues there.
[23:53:44] <memleak> thanks!
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