From 5cbd73249659afd91e8c1609690d181eb0daa0f4 Mon Sep 17 00:00:00 2001
From: John Thornton <[email protected]>
Date: Tue, 24 Jul 2012 13:55:26 -0500
Subject: [PATCH] fix lathe simulated spindle not reaching commanded speed

some can run 2500 some only 800 until the speed number goes negative
and simulated rpm stalls.

requires cherry picking sim_spindle.comp from master
---
 configs/sim/lathe.hal |   79 ++++++++++++++++---------------------------------
 1 files changed, 26 insertions(+), 53 deletions(-)

diff --git a/configs/sim/lathe.hal b/configs/sim/lathe.hal
index 2a2632c..cd5a9f8 100644
--- a/configs/sim/lathe.hal
+++ b/configs/sim/lathe.hal
@@ -1,69 +1,42 @@
-# counting the spindle encoder in software
-loadrt encoder num_chan=1
-# simulate the encoder
-loadrt sim_encoder num_chan=1
-loadrt limit2 count=1
+# simulated spindle encoder (for spindle-synced moves)
+loadrt sim_spindle count=1
+setp sim-spindle.0.scale 0.01666667

-addf limit2.0                   servo-thread
-
-#######################################################
-# Beginning of threading related stuff
-#######################################################
-
-# spindle speed control
-net spindle-speed-cmd  motion.spindle-speed-out => limit2.0.in
-net spindle-speed-limited limit2.0.out => sim-encoder.0.speed
-
-# simulate spindle mass
-setp limit2.0.maxv 500.0 # rpm/second
+loadrt limit2  count=1
+loadrt lowpass count=1
+loadrt near
+loadrt abs names=spindle-abs

-# spindle encoder
-# connect encoder signals to encoder counter
-net spindle-phase-A sim-encoder.0.phase-A => encoder.0.phase-A
-net spindle-phase-B sim-encoder.0.phase-B => encoder.0.phase-B
-net spindle-phase-Z sim-encoder.0.phase-Z => encoder.0.phase-Z
+addf limit2.0      servo-thread
+addf lowpass.0 	   servo-thread
+addf near.0 	     servo-thread
+addf sim-spindle.0 servo-thread
+addf spindle-abs servo-thread

-# assume 120 ppr = 480 counts/rev for the spindle
-setp sim-encoder.0.ppr 120
-# iocontrol output is in rpm, but sim-encoder speed is rps
-setp sim-encoder.0.scale 60
-# scale encoder output to read in revolutions
-# (that way thread pitches can be straightforward,
-#  a 20 tpi thread would multiply the encoder output
-#  by 1/20, etc)
-setp encoder.0.position-scale 480
+# spindle max velocity rpm/second
+setp limit2.0.maxv 1500.0

 # encoder reset control
 # hook up motion controller's sync output
-net spindle-index-enable motion.spindle-index-enable <=> encoder.0.index-enable
+net spindle-index-enable motion.spindle-index-enable <=> sim-spindle.0.index-enable

 # report our revolution count to the motion controller
-net spindle-pos encoder.0.position => motion.spindle-revs
+net spindle-pos sim-spindle.0.position-fb => motion.spindle-revs

-# for spindle velocity estimate
-loadrt lowpass count=1
-loadrt scale count=1
-net spindle-rps-raw encoder.0.velocity lowpass.0.in
-net spindle-rps-filtered lowpass.0.out scale.0.in motion.spindle-speed-in
-net spindle-rpm-filtered scale.0.out
-setp scale.0.gain 60
+# simulate spindle mass
 setp lowpass.0.gain .07
-addf lowpass.0 servo-thread
-addf scale.0 servo-thread

-# for at-speed detection
-loadrt near
-addf near.0 servo-thread
+# spindle speed control
+net spindle-speed-cmd  motion.spindle-speed-out => limit2.0.in
+net spindle-speed-limited limit2.0.out => sim-spindle.0.velocity-cmd lowpass.0.in
+
+# for spindle velocity estimate
+net spindle-rpm-filtered lowpass.0.out motion.spindle-speed-in near.0.in2 spindle-abs.in
+
+# at-speed detection
 setp near.0.scale 1.1
 setp near.0.difference 10
+
 net spindle-speed-cmd => near.0.in1
-net spindle-rpm-filtered => near.0.in2
 net spindle-at-speed near.0.out motion.spindle-at-speed

-net  spindle-fwd <= motion.spindle-forward
-
-addf encoder.capture-position servo-thread
-addf sim-encoder.update-speed servo-thread
-
-addf sim-encoder.make-pulses    base-thread
-addf encoder.update-counters    base-thread
--
1.7.0.4