Merge branch '2.9'

Author: c-morley

docs/src/gui/qtvcp-vcp-panels.adoc

@@ -275,6 +275,20 @@ loadusr qtvcp vismach_mill_xyz
 .QtVCP `vismach_mill_xyz` - 3-Axis Mill 3D View Panel
 image::images/qtvismach.png["QtVCP vismach_mill_xyz - 3-Axis Mill 3D View Panel",align="center"]
 
+=== QtVCP `vismach_router_atc`
+
+3D OpenGL view of a _3-Axis router style, gantry bed milling machine_. +
+This particular panel shows how to define and connect the model parts in the handler file, rather then importing the
+pre-built model from qtvcp's vismach library.
+ 
+[source,{hal}]
+----
+loadusr qtvcp vismach_router_atc
+----
+
+.QtVCP `vismach_router_atc` - 3-Axis Gantry Bed Mil 3D View Panel
+image::images/qtvismach_router_atc.png["QtVCP vismach_router_atc - 3-Axis Gantry Bed Mill 3D View Panel",align="center"]
+
 === QtVCP `vismach_scara`
 
 3D OpenGL view of a _SCARA based milling machine_.

share/qtvcp/panels/vismach_router_atc/vismach_router_atc_handler.py

@@ -15,10 +15,14 @@
 STATUS = Status()
 PATH = Path()
 
-###### VISMACH MODEL CODE #################
+###########################################
+# **** VISMACH MODEL CODE ****            #
+###########################################
+
+# decided not to use separate component in example
 #import hal
 
-#c = hal.component("3axisatcgui")
+#c = hal.component("router_atc")
 #c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
 #c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
 #c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)
@@ -29,21 +33,16 @@
 tool = Capture()
 tooltip = Capture()
 
-
-
 # kinematic axis
 # axis_y -> axis_x -> axis_z  -> tool
 # base -> work
 
-
 # tool
-
 tool = Collection([tooltip, tool])
 
 
 # axis z
-print(PATH.PANELDIR)
-objfile = os.path.join(PATH.PANELDIR, "3axisatcgui/headz.obj")
+objfile = os.path.join(PATH.PANELDIR, "vismach_router_atc/headz.obj")
 axisz = AsciiOBJ(filename=objfile)
 axisz = Color([1,1,1,1],[axisz])
 axisz = Rotate([axisz],90,1,0,0)
@@ -52,18 +51,18 @@
 axisz = Translate([axisz],0,0,-77)
 #axisz = HalTranslate([axisz],c,"joint2",0,0,1)
 axisz = HalTranslate([axisz], None, "joint.2.pos-fb",0,0,1)
-# axis x
 
-objfile = os.path.join(PATH.PANELDIR, "3axisatcgui/head.obj")
+# axis x
+objfile = os.path.join(PATH.PANELDIR, "vismach_router_atc/head.obj")
 head = AsciiOBJ(filename=objfile)
 head = Color([0.5,0.5,1,1],[head])
 head = Rotate([head],90,1,0,0)
 axisx = Collection([axisz, head])
 #axisx = HalTranslate([axisx],c,"joint0",1,0,0)
 axisx = HalTranslate([axisx],None, "joint.0.pos-fb",1,0,0)
-# axis y
 
-objfile = os.path.join(PATH.PANELDIR, "3axisatcgui/gantri.obj")
+# axis y
+objfile = os.path.join(PATH.PANELDIR, "vismach_router_atc/gantri.obj")
 rack = AsciiOBJ(filename=objfile)
 rack = Color([0.7,0.7,0.4,0.4],[rack])
 rack = Rotate([rack],90,1,0,0)
@@ -72,20 +71,18 @@
 axisy = HalTranslate([axisy],None, "joint.1.pos-fb",0,1,0)
 machine = Collection([axisy])
 
-
-
 # base
-objfile = os.path.join(PATH.PANELDIR, "3axisatcgui/rangka.obj")
+objfile = os.path.join(PATH.PANELDIR, "vismach_router_atc/rangka.obj")
 rangka = AsciiOBJ(filename=objfile)
 rangka = Color([1,1,1,1],[rangka])
 rangka = Rotate([rangka],90,1,0,0)
 
-objfile = os.path.join(PATH.PANELDIR, "3axisatcgui/bed.obj")
+objfile = os.path.join(PATH.PANELDIR, "vismach_router_atc/bed.obj")
 bed = AsciiOBJ(filename=objfile)
 bed = Color([1,0.8,0.2,0.2],[bed])
 bed = Rotate([bed],90,1,0,0)
 
-objfile = os.path.join(PATH.PANELDIR, "3axisatcgui/atc.obj")
+objfile = os.path.join(PATH.PANELDIR, "vismach_router_atc/atc.obj")
 atc = AsciiOBJ(filename=objfile)
 atc = Color([0.5,0.5,0.5,0.5],[atc])
 atc = Rotate([atc],90,1,0,0)
@@ -96,6 +93,20 @@
 
 model = Collection([base, machine])
 
+# uncomment for a DRO HUD
+#myhud = HalHud()
+#myhud.set_background_color(0,.1,.2,0)
+#myhud.show_top("Router_atc")
+#myhud.show_top("------------")
+#myhud.add_pin('axis-x: ',"{:10.4f}","axis.x.pos-cmd")
+#myhud.add_pin('axis-y: ',"{:10.4f}","axis.y.pos-cmd")
+#myhud.add_pin('axis-z: ',"{:10.4f}","axis.z.pos-cmd")
+#myhud.show("-------------")
+
+###########################################
+# model window                            #
+###########################################
+
 # we want to embed with qtvcp so build a window to display
 # the model
 class VisWindow(QWidget):
@@ -130,6 +141,7 @@ def __init__(self):
 # **** instantiate libraries section **** #
 ###########################################
 STATUS = Status()
+
 ###################################
 # **** HANDLER CLASS SECTION **** #
 ###################################

src/hal/components/carousel.comp

@@ -116,7 +116,7 @@ pin in float rev-dc "Velocity or duty cycle when reverse rotation is desired";
 pin in float hold-dc "Duty cycle when carousel is in-position (to hold against stop)";
 pin in float align-dc """Use this pin to set the speed of a slower alignment move once the changer is in position. Such a system almost
 certainly needs decel-time setting too""";
-pin in float decel-time "Time to wait for carousel to stop before final alignment";
+pin in float decel-time "Time to wait for carousel to stop before final alignment and position check";
 pin in signed counts "Connect to the rawcounts of an encoder or a stepgen in 'counts' mode";
 pin in signed scale = 100 "The number of stepgen or encoder counts between successive pockets";
 pin in signed width = 0   "How far each side of the exact scale to signal a new pocket";
@@ -167,6 +167,8 @@ int default_dir = 2;
 int default_sense = 4;
 int default_parity = 0;
 
+static bool err_once = 0;
+
 #define MAX_CHAN 8
 static int pockets[MAX_CHAN] = {-1};
 RTAPI_MP_ARRAY_INT(pockets, MAX_CHAN, "The number of pockets in each carousel")
@@ -202,6 +204,7 @@ FUNCTION(_){
         for(mask = new_pos >> 1 ; mask != 0 ; mask = mask >> 1){
             new_pos ^= mask;
         }
+        if (new_pos == 0) new_pos = inst_pockets; // all zeros != pocket zero
         break;
     case 'B': // Straight Binary
         align_pin = strobe;
@@ -380,7 +383,7 @@ FUNCTION(_){
             motor_vel = rev_dc;
             timer = rev_pulse;        
             state = 3;
-        } else if (align_dc != 0) {
+        } else if (decel_time > 0) {
             // stop and prepare for alignment
             motor_vel = 0;
             timer = decel_time;
@@ -390,7 +393,7 @@ FUNCTION(_){
             motor_rev = 0;
             motor_vel = hold_dc;
             active = 0;
-            if (enable) ready = 1;
+            if (enable && current_position == mod_pocket) ready = 1;
             state = 9;
         }
         break;
@@ -407,6 +410,10 @@ FUNCTION(_){
     case 5: //Waiting for carousel to stop
         timer -= fperiod;
         if (timer > 0) return;
+        if (align_dc == 0){
+            state = 8;
+            break;
+        }
         motor_vel = -align_dc;
         if (motor_dir == 1) {
             state = 6;
@@ -429,11 +436,17 @@ FUNCTION(_){
         motor_rev = 0;
         motor_vel = hold_dc;
         active = 0;
-        if (enable) ready = 1;
+        // final safety check for in-position
+        if (enable && current_position == mod_pocket) ready = 1;
         state = 9;
         break;
     case 9: //waiting for enable to go false
+        if (! ready && ! err_once){
+            rtapi_print_msg(RTAPI_MSG_ERR, "The toolchanger has failed the final alignment check");
+            err_once = 1;
+        }
         if (enable) return;
+        err_once = 0;
         state = 0;
         break;
     case 10: // start of homing
@@ -498,6 +511,8 @@ EXTRA_SETUP(){
     if (pockets[extra_arg] > 0) default_pockets = pockets[extra_arg];
     if (encoding[extra_arg] == NULL) {
         //it's already default_code
+    } else if (strncmp(encoding[extra_arg], "gray", 4) == 0) {
+        default_code = 'G';
     } else if (strncmp(encoding[extra_arg], "binary", 6) == 0) {
         default_code = 'B';
     } else if (strncmp(encoding[extra_arg], "bcd", 3) == 0) {