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haltcl -fix spindle.0.speed-in scale

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requires RPS was getting RPM
This commit is contained in:
Chris Morley 2020-07-14 20:03:11 -07:00
parent 41712f623d
commit 8e3f222c04
1 changed files with 6 additions and 1 deletions
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7
lib/hallib/sim_lib.tcl
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@ -331,6 +331,9 @@ proc sim_spindle {} {
loadrt limit2 names=limit_speed
loadrt lowpass names=spindle_mass
loadrt near names=near_speed
loadrt scale names=rpm_rps
setp rpm_rps.gain .0167
# this limit doesnt make any sense to me:
do_setp limit_speed.maxv 5000.0 ;# rpm/second
@ -358,7 +361,8 @@ proc sim_spindle {} {
# for spindle velocity estimate
net spindle-rpm-filtered <= spindle_mass.out
net spindle-rpm-filtered => spindle.0.speed-in
net spindle-rpm-filtered rpm_rps.in
net spindle-rps-filtered rpm_rps.out spindle.0.speed-in
net spindle-rpm-filtered => near_speed.in2
# at-speed detection
@ -370,6 +374,7 @@ proc sim_spindle {} {
addf limit_speed servo-thread
addf spindle_mass servo-thread
addf rpm_rps servo-thread
addf near_speed servo-thread
addf sim_spindle servo-thread
} ;# sim_spindle