From: andy pugh <bodgesoc@gm...> - 2014-01-06 12:54:53
In trying to figure out why halui breaks non-trivial configs (if you load
halui then the machine will tend to drop into joint mode at inconvenient
times) I found that manual mode seems to be explicitly expected to be
In fact, putting traj into "free" mode seems to be all that setting the
system to manual does.
It seems that Axis issues a "set manual mode" then immediately goes back to
joint or world mode when you switch tabs between manual and MDI (using its
own idea of the current mode).
At this point I hit a bit of an impasse, because I don't actually know what
the "manual" "auto" and "mdi" modes are actually for, and what each one
Do the new GUIs (gscreen and gmoccapy) make a point of resetting mode to
teleop (or do I mean coordinated) after a set-manual?
My feeling is that the "Manual" tab in Axis and the concept of "manual
mode" are confused, and may refer to different things by the same name.
To experiment, try the sample config gantry/gantry and note how the
axis/joint representations switch as you swap between manual and MDI tabs,
both when homed and not homed, in world mode and joint mode. Then alter the
config to load halui and see how things become different.
I think I have seen things change only by loading halui, but things can get
even more mixed up by running an MDI command (there is an explicit
set_manual_mode at the end of an MDI_COMMAND) and that puts traj in free,
but leaves Axis thinking that things are in World)
halui.mode.joint is another way to confuse matters.
If you can't fix it, you don't own it.
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