Re: Motion control stack

On Fri, 14 Dec 2012, Bert Willaert wrote:

> Hey,
> 
> In attachment there is a patch that proposes some changes to the motion_control stack. The
> changes are:
> 
> 1) namespace for all libraries is now MotionControl (for naxes it was motion_control)
> 
> 2) startHook of CartesianImpedanceController: same functionality but more readable
> 
> 3) both nAxes and Cartesian Generators now have an "events" port. While moving an
> "e_"+name+"_moving" event is sent continuously and when the motion is finished an
> "e_"+name+"_move_finished" event is sent once. This last change has been verified only by using
> the moveTo operation, but I assume it only affects that operation.

I am against the use of an event that is sent out continuously! Events
should be, well..., _events_, that is things that "happen" once in a while.

But your _intention_ is very good: while a motion is going in, there should
be a continuous "Quality of Service" data flow going on, which has the
information that you want to put in the "e_"+name+"_moving" event, and even
more.

The name ""e_"+name+"_move_finished" is also not so good: the event should
indicate the _condition_ that caused the motion to stop, because there can
be many such causes.

> Please neglect the patch I send one/two weeks ago.
> 
> Bert

Herman

> 
>
>       On Fri, Dec 14, 2012 at 9:14 AM, Bert Willaert <[email protected]>
>       wrote:
>             In the meantime, i have some minor extra changes. I ' ll send a new
>             patch later today.
>
>             bert
>
>             On Thursday, December 13, 2012, Peter Soetens <[email protected]>
>             wrote:
>             > On Tue, Nov 27, 2012 at 1:54 PM, Bert Willaert
>             > <[email protected]> wrote:
>             >> Hi,
>             >>
>             >> I noticed that the event port from the nAxisGenerator is actually not
>             >> implemented. In attachment you can find a patch with an
>             implementation for
>             >> the port. The events I added are:
>             >>
>             >> configured_event, moving_event and move_finished_event.
>             >>
>             >> Especially the last one was what I needed.
>             >
>             > Thanks for the improvement. Who's picking up this patch and merging it
>             in ?
>             >
>             > Peter
>             >
> 
> 
> 
> 
>

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