Task control button

Michael Huang replied 6 years ago

Hi Koloman,
I noticed that there are enable events and disable events in the task control button. How does it turn Position Control on and off. I read the book, but do not understand the principle. When the button enable, does the process stay at this state and wait until user click button?

Thanks,
Michael

Koloman Varady Staff replied 6 years ago

Hi Michael,

The enable events and disable events defined in the task control button section of the Parameter table are for controlling the button. For example, in Fig 7-4 in the Creating Task Programs for Dexterit-E 3.6 user guide, when event code 2 is sent to the DataLogging block, button #10 is enabled. Likewise, when event code 3 is transmitted to the DataLogging block, button #10 is disabled and button #11 is enabled.

Control the task state has to be done through Simulink and Stateflow. When a button is clicked, the button ID is transmitted via the task_control_button From tag. You can use that signal to transition to a Stateflow state where you want the position controller block to maintain the arm position. Then you can use another button click to exit that Stateflow state.

Enabling and disabling the position controller block is demonstrated in the “Position controller enable/disable” sample task. It demonstrates how to ramp up and ramp down the forces coming from the position controller block to make the movement feel more natural.

Cheers,

Koloman