SpinTac velocity Plan Configuration Condition

Hi Adam,

This is a simplified drawing of my state machine:

Thanks

Daniel

Daniel,

Thanks for the very helpful drawing.  This is all very doable using Plan.  The way to enforce the time condition is by setting the minimum state time when you configure the state.  I've included an example using your states below:

//Example: STVELPLAN_addCfgState(handle,    VelSetpoint[pups],             StateTimer[ticks]);
STVELPLAN_addCfgState(stObj->velPlanHandle, 0,                             1L);     // Idle
STVELPLAN_addCfgState(stObj->velPlanHandle, _IQ(x * ST_SPEED_PU_PER_KRPM), 1L);     // State_1
STVELPLAN_addCfgState(stObj->velPlanHandle, _IQ(x * ST_SPEED_PU_PER_KRPM), 15000L); // State_2
STVELPLAN_addCfgState(stObj->velPlanHandle, _IQ(x * ST_SPEED_PU_PER_KRPM), 10000L); // State_3

The StateTimer represents the minimum time that it will remain in the state.  It configured as ticks or samples.  So my example code above assumes that your sample time is 0.001 sec.

I want precisely the opposite: The time declared in the graph should be  the MAXIMUN. Normal operation is "related to" the accomplishment of certain conditions. If the conditions are never met (for a hardware failure) then the time should be the limit. How could I codify this?

So for example you want a transition from State_3 to Idle if condition ==1 OR time > 10s?

To do this you would need to use a second variable to act as a timer and set your minimum state time to 0.  You would need to setup a condition on your timer variable for the maximum time in state value.  Then in the transition you would set it to evaluate either (OR) condition == 1 or time == 10.  You would also need to setup a way to increment your timer variable.  This could be done either as an Action inside of Plan or by incrementing a variable outside of Plan and passing the value in.  So the code would look like this:

// ST_setupPlan Function Code

//Example: STVELPLAN_addCfgState(handle,    VelSetpoint[pups],                 StateTimer[ticks]);
STVELPLAN_addCfgState(stObj->velPlanHandle, 0,                                 1L); // StateIdx0: Idle
STVELPLAN_addCfgState(stObj->velPlanHandle, 0,                                 1L); // StateIdx1: State_3

//Example: STVELPLAN_addCfgVar(handle,    VarType,      InitialValue);
STVELPLAN_addCfgVar(stObj->velPlanHandle, ST_VAR_INOUT, 0);	// VarIdx0: Timer
STVELPLAN_addCfgVar(stObj->velPlanHandle, ST_VAR_IN,    0);	// VarIdx1: Condition Variable

//Example: STVELPLAN_addCfgCond(handle,    VarIdx, Comparison,  Value1, Value2)
STVELPLAN_addCfgCond(stObj->velPlanHandle, 0,      ST_COMP_EQ,  10000,  0); // CondIdx0: Timer Elapsed
STVELPLAN_addCfgCond(stObj->velPlanHandle, 1,      ST_COMP_EQ,  1,      0); // CondIdx1: Condition Variable == 1

//Example: STVELPLAN_addCfgTran(handle,    FromState, ToState, CondOption, CondIdx1, CondiIdx2, AccLim,   JrkLim);
STVELPLAN_addCfgTran(stObj->velPlanHandle, 1,         0,       ST_COND_OR, 0,        1,         _IQ(0.1), _IQ20(1)); // From State_3 
to Idle

//Example: STVELPLAN_addCfgAct(handle,    StateIdx, CondOption, CondIdx1, CondIdx2, VarIdx, Operation, Value, ActionTriger);
STVELPLAN_addCfgAct(stObj->velPlanHandle, 0,        ST_COND_NC, 0,        0,        0,      ST_ACT_EQ, 0,    ST_ACT_ENTR); // Entering Idle reset TimeOut to 0

// ST_runPlan Function
gPlanTimeOut++; // Increment TimeOut
STVELPLAN_setVar(stObj->velPlanHandle, 0, gPlanTimeOut); // Pass TimeOut value into Plan (Must Call Before STVELPLAN_run)
STVELPLAN_getVar(stObj->velPlanHandle, 0, &gPlanTimeOut); // Pass TimeOut value into Plan (Must Call After STVELPLAN_run)

This is an example of what it would look like for the State_3 to Idle transition.  You would need to fill in the rest of the pieces for the rest of the state machine.