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Dexter moves when changing from Follow mode to Keep mode. #3

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JamesNewton opened this issue Jul 27, 2018 · 2 comments
Open

Dexter moves when changing from Follow mode to Keep mode. #3

JamesNewton opened this issue Jul 27, 2018 · 2 comments
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Gateware Related to the FPGA.
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@JamesNewton
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JamesNewton commented Jul 27, 2018

When entering Keep mode, Dexter will return to the last commanded position, which may not be the current position after movement in Follow mode. Transitioning from Follow to Keep, at the current position, without motion is an outstanding issue.

@JamesNewton JamesNewton added this to the Montefiore milestone Jul 27, 2018
@JamesNewton JamesNewton added the Gateware Related to the FPGA. label Jul 13, 2020
@JamesNewton
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JamesNewton commented Aug 27, 2020

Question: Why can't we send a command to change the last commanded position and also clear the PID DELTA used in Follow mode at the same time? E.g. make a new oplet that has the DexRun.c firmware do those two things in quick succession?

One of the FPGA addresses seems to indicate that it resets the built up PID delta. Is that correct?
78 RESET_PID_AND_FLUSH_QUEUE: bit 0 resets PID_DELTA. Bit 1 is E_STOP? Set to all zero for normal operation.

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Kamino cloned this issue to HaddingtonDynamics/OCADO

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