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Submitted by SteveG on Tue, 09/16/2008 - 15:49

Hi,

All-in-all GalilTools is a much nicer tool than Smart Terminal or WSDK. Naturally, hhere are a few features that I think would be useful. I have the full featured GalilTools.

One is to make the tune require pushing a button rather than run a step response whenever KP, KD, or KI sliders are queried or moved. I'd like to set up all the parameters and then say "do the test". Something like the scope button with a drop-down list of single, repeat or continuous comes to mind. The way I do this now is to upload the tuning code, make changes, download it and then execute with the scope running.

On a related note, the WSDK had a number of different tuning types whereas GalilTools has step. Are there plans to add others?

I use the scope a lot and it's immensely improved. Nice job. Howver, I miss not having any way to save the data to a file. Are there plans for this?

Also for the scope, there are times when I want to have the scope start when I execute a particular piece of code. I couldn't figure out how to do that.

Maybe in the future you could add the ability to watch user variables of my own chosing?

Are there plans to add visual code debugging in addition to the command driven examples shown?

Right now, WSDK can send/upload parameters from the Galil into a file and Smart Terminal can download the parameters from a file to the controller. I couldn't find them in GalilTools. Are there plans to add this in the future?

Thank you,

Steve Gottschalk

Comments 5

Galil_DJR on 09/17/2008 - 09:41

Steve,
Thanks for the great feedback! Here are my responses:

[i]Hi,

All-in-all GalilTools is a much nicer tool than Smart Terminal or WSDK. Naturally, hhere are a few features that I think would be useful. I have the full featured GalilTools.

One is to make the tune require pushing a button rather than run a step response whenever KP, KD, or KI sliders are queried or moved. I'd like to set up all the parameters and then say "do the test". Something like the scope button with a drop-down list of single, repeat or continuous comes to mind. The way I do this now is to upload the tuning code, make changes, download it and then execute with the scope running.
[/i]
[b]Several tuning enhancements, including a "Perform Step" button are planned. If you want to use the PID sliders without generating a step now, set the Step Amplitude to zero.[/b]
[i]
On a related note, the WSDK had a number of different tuning types whereas GalilTools has step. Are there plans to add others?
[/i]
[b]Yes, there are plans to add more tuning methods including some new algorithms.[/b]

[i]
I use the scope a lot and it's immensely improved. Nice job. Howver, I miss not having any way to save the data to a file. Are there plans for this?[/i]
[b]Yes, in the near future. The data will be saved as a csv file for analysis in third party software.[/b]
[i]

Also for the scope, there are times when I want to have the scope start when I execute a particular piece of code. I couldn't figure out how to do that.
[/i]
[b]Set a source to "XQ Program running". Trigger off the rising edge of this bool.[/b]
[i]
Maybe in the future you could add the ability to watch user variables of my own chosing?
[/i][b]
You can do this on Accelera controllers using the user variables (e.g. ZA). Watching generic variables is under consideration. Keep in mind that repeating (alt+shift+r) a command in terminal will allow watching anything (e.g. MG"Var1=",var1)
[/b]
[i]
Are there plans to add visual code debugging in addition to the command driven examples shown?
[/i]
[b]Although the command driven debugger is very powerful, Galil recognizes the need for a graphical version. This is planned and the development priority is being considered. [/b]
[i]
Right now, WSDK can send/upload parameters from the Galil into a file and Smart Terminal can download the parameters from a file to the controller. I couldn't find them in GalilTools. Are there plans to add this in the future?
[/i]
[b]
We call this "setup" and it copies out the various sectors of the EEPROM for backup. Yes there are plans to implement this in the future.

I am glad that GalilTools is a strong start for our customers, and also that our development plans are in line with the needs of Galil users. Do be sure to list feedback here in the future, and thanks again.
[/b]

SteveG on 09/21/2008 - 16:32

I'm glad to hear all this. I use GalilTools almost exclusively because it is so helpful.

I did forget to mention that it would be nice to set the KP, KD, KI autotuning limits. One of my systems needs low gains, KD around 4-5. The default settings run the gains up very high so the system errors out. I've set the error limits at their maximum values of 32768. It's an air bearing with a linear motor, dubbed the "rocket launcher" because in principle it could move the load off really quickly. (It hasn't. We've been really, really, really careful!). That's why I don't use OE 0 either.

Steve

Galil_DJR on 09/22/2008 - 10:07

Good idea Steve. I have added this request to our master feedback list. We have a long list of features to add into the tuning tool and we will be sure to consider this; planned methods such as manual or iterative tuning allow the user to set bounds.

SteveG on 09/23/2008 - 14:49

Here's a (hopefully) simpler one, :). Include the filename, date and time when printing out the program file. Maybe also include the line number.

Galil_DJR on 09/24/2008 - 09:55

Yes, that is an easy one to implement. Printing is new for 1.2.0.0 and I will try to sneak this one into the mix for 1.3.0.0.