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Can I combine SpinTAC Velocity and Position plan together?

Qiang Guo
Expert 1695 points

Hi, 

  I am trying to combine lab12a-interia ID  and lab13c position plan together, so that I can test my motor's friction and inertia as user required.

Can I combine SpinTAC Velocity plan into Position plan?

  • 0
    TI__Guru** 114120 points

    Yes, you can do this.

  • 0 in reply to Yanming Luo
    Expert 1695 points

    How can I do so? by including main.h or spintac_velocity.h, it would occur lots of errors and conflicts. ESPECIALLY problems with "handle "

  • 0 in reply to Qiang Guo
    Guru 12800 points

    You will need to do an intelligent merge of the functionality from lab 12a into lab 13c.  There really isn't a guide for how to do this.  As many of these names overlap, you won't be able to simply include a new file an have the project be expanded with new functionality.  You will need to go through the lab 12a code and copy the inertia identification parts and place them into the lab 13c code.  You will then need to setup a software switch so that you can enter and exit the inertia identification mode.  My advice would be to follow the example in lab 12a for how to do this.

  • 0 in reply to Adam D. Reynolds
    Expert 1695 points
    How Can I setup a software switch to exit the inertia id mode? and update new inertia and friction values?
  • 0 in reply to Qiang Guo
    Guru 12800 points
    You should be able to detect that the inerita test has completed in the same way that it is done in lab 12a and return to position control.

    Inertia and Friction can be run-time updated functions to update these exist in the API.