NAME

       anglejog - Jog two axes (or joints) at an angle

SYNOPSIS

       This  component accepts a dynamic counts-in input (typically from a manual pulse generator
       (MPG)) and static angle and scale factor settings.   It  computes  the  counts  and  scale
       values  required  to jog two (M,N) axes (or joints) at an angle.  The corresponding output
       pins must be connected to the candidate axis.[MN].jog* (or joint.[MN].jog*) pins to create
       motion  at  the  current  angle.   Hal  pins  are  provided to set the vector velocity and
       acceleration and to enable the computations.

       Notes:

       1. The max-vel, max-accel settings should be less than or equal to the  smallest  settings
       for both of the target axes.

       2.  The scale-in pin is sampled only when the enable-in pin is false.  The value in use is
       output on the current-scale pin.

       3. The angle-degrees-in pin is sampled only when the enable-in pin is false.  The value in
       use is output on the current-angle-degrees pin.

       4.  The  value of the iscale-factor pin multiplies counts-in internally to support integer
       (s32) calculations for counting.  The current-scale-out is divided  by  the  same  amount.
       The pin is sampled only when the enable-in pin is false.  The default value should work in
       most applications.

       5. For identity kins machines that support both world  jogging  (axis  letter)  and  joint
       jogging  (joint  number),  connections  are  needed for both the axis pins: axis.[MN].jog-
       enable,jog-scale,jog-counts and the corresponding joint  pins:  joint.[mn].jog-enable,jog-
       scale,jog-counts  where [mn] are the joint numbers corresponding to the [MN] axis letters.
       6. The current-scale pin is for information, the required output scaling pin  is  current-
       scale-out as it depends on the iscale-factor setting.

       Simulation Config: configs/sim/axis/anglejog/anglejog.in

FUNCTIONS

       anglejog.N (requires a floating-point thread)

PINS

       anglejog.N.enable-in bit in
              enables motion (disables alteration of angle and scale)

       anglejog.N.counts-in s32 in
              MPG (wheel) counts

       anglejog.N.angle-degrees-in float in
              vector angle

       anglejog.N.iscale-factor s32 in (default: 10000)
              integer scaling factor (>1)

       anglejog.N.scale-in float in
              magnitude units/count (mag = counts * scale)

       anglejog.N.max-vel float in
              vector max velocity magnitude

       anglejog.N.max-accel float in
              vector max acceleration magnitude

       anglejog.N.accel-fraction-in float in (default: 1)
              acceleration fraction input

       anglejog.N.enable-out bit out
              to: axis.M.jog-enable AND axis.N.jog-enable

       anglejog.N.current-scale float out
              effective scale (informational)

       anglejog.N.current-scale-out float out
              to: axis.M.jog-scale AND axis.N.jog-scale

       anglejog.N.coscounts s32 out
              to: axis.M.jog-counts (cosine counts)

       anglejog.N.sincounts s32 out
              to: axis.N.jog-counts (sine   counts)

       anglejog.N.cos-accel-fraction float out
              to: axis.M.jog-accel-fraction

       anglejog.N.sin-accel-fraction float out
              to: axis.N.jog-accel-fraction

       anglejog.N.active bit out
              angle jog move in progress

       anglejog.N.current-angle-degrees float out
              current angle

       anglejog.N.current-mag float out
              current vector magnitude

       anglejog.N.current-vel float out
              current vector speed

AUTHOR

       Dewey Garrett

LICENSE

       GPL