Our machine has LAM stepper drivers which have a boost input to, temporarily boost the current. I'd like to use these to temporarily boost the stepper driver current. The main criteria of interest IMHO are the commanded acceleration and the commanded velocity, if either of them crosses a threshold, I'd like to enable current boost.
Building the logic for this in HAL would be trivial, but there is currently no exposed pin containing the anticipated maximum acceleration/velocity. IIUC, there is a lookahead in the motion planning, but nothing of its state is exposed. Can we expose these two parameters, possibly per joint?
Our machine has LAM stepper drivers which have a boost input to, temporarily boost the current. I'd like to use these to temporarily boost the stepper driver current. The main criteria of interest IMHO are the commanded acceleration and the commanded velocity, if either of them crosses a threshold, I'd like to enable current boost.
Building the logic for this in HAL would be trivial, but there is currently no exposed pin containing the anticipated maximum acceleration/velocity. IIUC, there is a lookahead in the motion planning, but nothing of its state is exposed. Can we expose these two parameters, possibly per joint?