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Post by alexfish on Nov 22, 2023 23:19:52 GMT 1
Hi All
Think I posted some problem with comparing floating point a while ago
Here on raspy pi
this bit of code is from some stepper motor drivers the code is in doubles since it looks correct
in a Meter Length
' 1000 mm 1mtr
CONST MAX_STEP = 200000
CONST MOTOR_STEP = 0.005
LOCAL ptr TYPE double
DECLARE motor_step[MAX_STEP+1] TYPE double
FOR t = 0 TO MAX_STEP
motor_step[t] = ptr
INCR ptr,MOTOR_STEP
NEXT
'=============================================================
FUNCTION GET_STEPS(double Dist) TYPE int
LOCAL res TYPE double
FOR t = 0 TO MAX_STEP
res = motor_step[t]
IF res >= Dist THEN
PRINT motor_step[t]
PRINT motor_step[t-1]
res = motor_step[t]
RETURN t
END IF
NEXT
END FUNCTION
PRINT motor_step[MAX_STEP]
LOCAL MY_DIST TYPE double
MY_DIST = 9.6903
tstep = GET_STEPS(MY_DIST)
PRINT "tstep " ,tstep
if change all the double to float then on meter length IE:: 1000 mm then get 1000.82 mm
Food for thought including the bits to play with
Added
That could course a seg fault on an array if dividing the step(pos(dim))
this 0.82 mm is 217 step more
BR
Alex
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Post by alexfish on Nov 24, 2023 0:12:26 GMT 1
Here have used strings
If need the value Simple : FOO = VAL(X)
Anyway : can get pretty close to the mark in terms of a stepper motor steps to distance
BR
Alex
the Bits
' 1000 mm 1mtr
OPTION PARSE FALSE
CONST MAX_STEP = 200000
CONST MOTOR_STEP = 0.005
LOCAL ptr TYPE double
DECLARE motor_step$[MAX_STEP+1] TYPE char*
REM ============================================
SUB SET_UP()
FOR t = 0 TO MAX_STEP
LOCAL gx[20] TYPE static char
sprintf(gx,"%.3f",ptr)
motor_step$[t] = gx
INCR ptr,MOTOR_STEP
NEXT
END SUB
REM ============================================
FUNCTION GET_STEPS(double Dist) TYPE int
LOCAL res TYPE double
LOCAL pos
LOCAL gx[20] TYPE static char
LOCAL res$
sprintf(gx,"%.3f",Dist)
res$ = gx
PRINT "Look Up ", res$
PRINT "Steps " , Dist / MOTOR_STEP
pos = Dist / MOTOR_STEP
PRINT "Distance " , Dist
PRINT "Nearest Dist ",motor_step$[pos]
RETURN pos
END FUNCTION
REM ============================================
SET_UP
LOCAL rp TYPE double
FOR rp = 1 TO 100
st = GET_STEPS(rp+ 0.486)
PRINT "Steps ",st
PRINT "=========================="
NEXT
IMPROVED
' 1000 mm 1mtr
OPTION PARSE FALSE
CONST MAX_STEP = 200000
CONST MOTOR_STEP = 0.005
LOCAL ptr TYPE double
DECLARE motor_step$[MAX_STEP+1] TYPE char*
REM ============================================
SUB SET_UP()
FOR t = 0 TO MAX_STEP
LOCAL gx[20] TYPE static char
sprintf(gx,"%.3f",ptr)
motor_step$[t] = gx
INCR ptr,MOTOR_STEP
NEXT
END SUB
REM ============================================
FUNCTION GET_STEPS(double Dist) TYPE int
LOCAL res TYPE double
LOCAL pos
LOCAL gx[20] TYPE static char
LOCAL res$
sprintf(gx,"%.3f",Dist)
res$ = gx
PRINT "Look Up ", res$
PRINT "Steps " , Dist / MOTOR_STEP
pos = Dist / MOTOR_STEP
PRINT "Distance " , Dist
IF res$ = motor_step$[pos] THEN
PRINT "Nearest Dist 1 ",motor_step$[pos]
RETURN pos
ELSE
res$ = motor_step$[pos+1]
PRINT "Nearest Dist 2 ",motor_step$[pos+1]
RETURN pos+1
END IF
END FUNCTION
REM ============================================
SET_UP
LOCAL rp TYPE double
FOR rp = 1 TO 50 STEP 0.3
st = GET_STEPS(rp)
PRINT "Steps ",st
PRINT "=========================="
NEXT
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Post by alexfish on Nov 24, 2023 11:57:29 GMT 1
Conclusion
Here on pi math wise to real world use double
my case on raspy pi
Final bit
' 1000 mm 1mtr
OPTION PARSE FALSE
CONST MAX_STEP = 200000
CONST MOTOR_STEP = 0.005
REM ============================================
FUNCTION GET_STEPS(double Dist) TYPE int
LOCAL t
LOCAL res$
LOCAL val TYPE double
PRINT "Lookup " , Dist
LOCAL gx[20] TYPE static char
sprintf(gx,"%.3f",Dist)
res$=gx
val=VAL(res$)
t = val/MOTOR_STEP
PRINT "Nearest " , val
RETURN t
END FUNCTION
REM ============================================
st= GET_STEPS( 0.3144)
PRINT "Steps ",st
st= GET_STEPS( 0.3145)
PRINT "Steps ",st
Can Now spot the difference using float
' 1000 mm 1mtr
OPTION PARSE FALSE
CONST MAX_STEP = 200000
CONST MOTOR_STEP = 0.005
REM ============================================
FUNCTION GET_STEPS(float Dist) TYPE int
LOCAL t
LOCAL res$
LOCAL val TYPE float
PRINT "Lookup " , Dist
LOCAL gx[20] TYPE static char
sprintf(gx,"%.3f",Dist)
res$=gx
val=VAL(res$)
t = val/MOTOR_STEP
PRINT "Nearest " , val
RETURN t
END FUNCTION
REM ============================================
st= GET_STEPS( 0.3144)
PRINT "Steps ",st
st= GET_STEPS( 0.3145)
PRINT "Steps ",st
Results
double
Lookup 0.3144
Nearest 0.314
Steps 62
Lookup 0.3145
Nearest 0.315
Steps 63
float
Lookup 0.3144
Nearest 0.314
Steps 62
Lookup 0.3145
Nearest 0.315
Steps 62
in the float function
test
st= GET_STEPS( 0.3149)
results stay same at 62 steps
Lookup 0.3144
Nearest 0.314
Steps 62
Lookup 0.3149
Nearest 0.315
Steps 62
Have Fun
BR
Alex
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Post by alexfish on Nov 25, 2023 14:53:15 GMT 1
Put the final solution to test in hug gcoder Now have Quadrants in alignment Same For Circle modified G3 + the start of and end ARC 90deg G3("[-]" , "#FF0000",0,90,0,0,300,200) START OF 90 deg ARC
G0 X150.000 Y0.000
G3 X148.691 Y0.004
G3 X147.382 Y0.015
G3 X146.073 Y0.034
G3 X144.765 Y0.061
G3 X143.457 Y0.095
G3 X142.150 Y0.137
G3 X140.843 Y0.187
G3 X139.537 Y0.244
G3 X138.231 Y0.308
G3 X136.927 Y0.381
G3 X135.623 Y0.460
G3 X134.321 Y0.548
G3 X133.020 Y0.643
G3 X131.720 Y0.745
G3 X130.421 Y0.856
G3 X129.124 Y0.973
G3 X127.829 Y1.098END OF 90 deg ARC
G3 X0.365 Y93.024
G3 X0.280 Y93.895
G3 X0.206 Y94.766
G3 X0.143 Y95.638
G3 X0.091 Y96.510
G3 X0.051 Y97.382
G3 X0.023 Y98.255
G3 X0.006 Y99.127
G3 X0.000 Y100.000
Alex the picture shows Finnese in the stepping in HUG3.5.3 can apply same in drawing : therefore gets rid of the chunky pixel look Attachments:
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