further rotate control freezes

[harrih]

Hi there
first Thankyou very much for your work on teensyStep and VisualTeensy this may be related to the issue flagged by baaender

Am having freezing issues with rotate control
Which I have narrowed down to largish jumps in the speed modifier value from 1 tick interval to the next Also the value at which this freezing occurs is not symetrical ie a jump of 0.05 in a negative direction will cause a freeze whereas a similar jump in the positive direction does not. These values also seem to be very dependent on the acceleration and maxspindlespeed chosen I am using a high acceleration rate as I am not using this to directly to control motors but rather to generate pulse and direction output as a result of a 3D rotation process on a previously generated pulse stream. I am attaching a sketch that illustrates this issue as best as i can Playing with the basespeed variable and observing the count behaviour in the console should show what I mean tested on T3.1 & t3.5

Thanks Harry Harrison

`//this code is purely for testing purposes to check on 1for1 pulse in out //max rates available how to ensure reliabilty of data throughput //will eventually be embodied in a program that takes 3 pulse streams representing //Yaw Tilt Roll perform a 3Drotion on these and then retransmit the data to the motors // this is effectively a stabilising routine for a servo controlled camera pointing device. // original motor signal comes from KUPER hardware which performs all smoothing scaling recording and other signal conditioning // so no accelleration limiting required //HOWEVER in the event of unfiltered input particularly direct input from Highcount encoders // with very little smoothing, // the code needs to be able to survive abrupt changes in speed/ direction without freezing

//As set up

#include <Arduino.h> #include <QuadDecode_def.h> #include <teensystep.h>

int t; int t_old; volatile bool TickFlag = false; double motorPosn; double motorPosnOld; double motorDelta = 0; constexpr unsigned maxSpindleSpeed = 100'000; constexpr unsigned spindleStepPin = 22; constexpr unsigned spindleDirPin = 21; constexpr unsigned AnalogIn = A14; int sensorValue = 0; int Counter = 0; double MaxVal; RotateControl controller; Stepper motor(spindleStepPin, spindleDirPin); IntervalTimer tickTimer;

float baseSpeed = 0.024; //adjust this to see effects of instantaneous override speed change equivalent to // double this value. Seems to work up to ).25 ie 0.5 swing equivalent to 500 count per float ratio = 0.9; volatile float speedmodifier = 0.005; volatile byte state = LOW; volatile double count = 0; volatile double total = 0; float a = 0.01; constexpr unsigned recalcPeriod = 10000; //µs period for calculation of new target points. double totalOld = 0; double totalNew = 0; ////////////////////////////////Functions definition/////////////////////////////////////////////// void blink(); void tickRoutine(); void Tick(); void ConsolePrint();

////////////////////////////////Functions/////////////////////////////////////////////// void blink() { state = !state; digitalWriteFast(13, !digitalReadFast(13)); }

void TickRoutine() { if (TickFlag == true) { TickFlag = false; Counter++; speedmodifier = baseSpeed; controller.overrideSpeed(speedmodifier); motorPosnOld = motorPosn; motorPosn = motor.getPosition(); motorDelta = motorPosnOld - motorPosn; if (Counter > 300) { baseSpeed = -baseSpeed; blink(); Counter = 0; } } } void tick() { //isr function to sevice interval timer TickFlag = true; digitalWriteFast(23, !digitalReadFast(23)); //write interval time to pin 23 for logic analyzer digitalWriteFast(LED_BUILTIN, !digitalReadFast(LED_BUILTIN)); }

void consolePrint() { // utility to print to console t = int(millis()); t = t / 100; if (t > t_old) { Serial.print("MotorPosn "); Serial.println(motor.getPosition()); Serial.print("speedModifier "); Serial.println((speedmodifier)); if (motor.getPosition() > MaxVal) { MaxVal = motor.getPosition(); } Serial.print("MaxVal"); Serial.println(MaxVal); Serial.print("motorDelta "); Serial.println(motorDelta); } }

//////////////////////////////////////////////End Functions////////////////////////////////////////////////

////////////////////////////Program setup------------------------------------------------------------ /////////////////////////////Program setup------------------------------------------------------------

void setup() { pinMode(LED_BUILTIN, OUTPUT); pinMode(23, OUTPUT); pinMode(22, OUTPUT); pinMode(21, OUTPUT); pinMode(3, INPUT_PULLUP); pinMode(4, INPUT_PULLUP); pinMode(A14, INPUT); Serial.begin(115200); //use fastest baud rate for SERIAL MONITOR while (!Serial) { /* do nothing */ } Serial.flush();

tickTimer.begin(tick, recalcPeriod); //10 millisecs
motor
    .setMaxSpeed(maxSpindleSpeed)
    .setAcceleration(5000000)
    .setPosition(0); // set start position of counter
motor.setPullInOutSpeed(5000, 5000);

controller.rotateAsync(motor); // let the motor run with constant speed
controller.overrideSpeed(0);   // start with stopped motor

tickTimer.priority(128); // lowest priority, potentially long caclulations need to be interruptable by TeensyStep
//attachInterrupt(digitalPinToInterrupt(22), stepP, RISING);

}

////////////////////////////////////Program loop------------------------------------------- void loop() { //speedmodifier= ReadPot(); TickRoutine(); consolePrint(); }`

[EeeLo]

Looks like same problem with you