NAME

       orient  -  Provide  a  PID  command  input  for  orientation mode based on current spindle
       position, target angle and orient mode

SYNOPSIS

       loadrt orient [count=N|names=name1[,name2...]]

DESCRIPTION

       This component is designed to support a  spindle  orientation  PID  loop  by  providing  a
       command  value,  and  fit  with  the motion spindle-orient support pins to support the M19
       code.

       The spindle is assumed to have stopped in  an  arbitrary  position.  The  spindle  encoder
       position  is  linked  to  the   position  pin.   The  current value of the position pin is
       sampled on a positive edge on the enable pin, and command is computed and set as  follows:
       floor(number  of  full  spindle revolutions in the position sampled on positive edge) plus
       angle/360 (the fractional revolution) +1/-1/0 depending on mode.

       The mode pin is interpreted as follows:

       0: the spindle rotates in the direction with the lesser angle, which may be  clockwise  or
       counterclockwise.

       1: the spindle rotates always rotates clockwise to the new angle.

       2: the spindle rotates always rotates counterclockwise to the new angle.

HAL USAGE

       On spindle.N.orient disconnect the spindle control and connect to the orient-pid loop:

       loadrt orient names=orient
       loadrt pid names=orient-pid
       net orient-angle spindle.N.orient-angle orient.angle
       net orient-mode spindle.N.orient-mode orient.mode
       net orient-enable spindle.N.orient orient.enable orient-pid.enable
       net spindle-in-pos orient.is-oriented spindle.N.is-oriented
       net spindle-pos encoder.position orient.position orient-pid.feedback
       net orient-command orient.command orient-pid.command

FUNCTIONS

       orient.N (requires a floating-point thread)
              Update command based on enable, position, mode and angle.

PINS

       orient.N.enable bit in
              enable angular output for orientation mode

       orient.N.mode s32 in
              0:   rotate  -  shortest  move;  1:  always  rotate  clockwise;  2:  always  rotate
              counterclockwise

       orient.N.position float in
              spindle position input, unit 1 rev

       orient.N.angle float in
              orient target position in degrees, 0 <= angle < 360

       orient.N.command float out
              target spindle position, input to PID command

       orient.N.poserr float out
              in degrees - aid for PID tuning

       orient.N.is-oriented bit out
              This pin goes high when poserr < tolerance. Use to drive spindle.N.is-oriented

       orient.N.tolerance float in (default: 0.5)
              The tolerance in degrees for considering the align completed

AUTHOR

       Michael Haberler

LICENSE

       GPL