Nov.3 Clean lms 4diac Pallete

Clean lms 4diac Pallete on AlexPC - not compiled/tested  AND needs PID1 FB before Segway

Since there doesn't seem to be any copy of the LMS Sept. workspace where the System Manger works, need finish moving the working/finished LMS Function Blocks to their own clean local hg repository. clean = no extra code + use of static const

4DIAC-IDE managed somehow to get the same FB type (PID1) in the same group. Since good copy was lost, just deleted both copies and started over.

forte1103 lms pallete FBs with working code from summer:

• OFF(was shutdown); 
• added message sent via USB back to 4diac "LMS OFF"
• LED; 
• LT (was RD); 
• TOUCH; 
• SOUND; 
• M_PWR (was motor.basic)

Clock skew problem on Alex's PC (slow clock) is annoying since build leaves a directory when it sees it. 
Cause: Files copied from a computer with a normal clock time.
Solution: Wait the 10 minutes the PC clock is behind and the problem goes away.


cntlr.PID1 Basic FB 
Kp=25,Ki=1,Kd=10 values taken from LMS NXTG "Segway" code 
Since the FB has been lost due to 4DIAC several times a screen capture backup - PID1 is currently in the Nov lms directory. The FB should work, but is not polished.

• Several "Segway" application versions. 
• Refining how to get the desired value = first read
• Should LT FB should do its initial read when INIT event is sent?
• PID FB 
• Does it need an event when OUT is out of reasonable range is QO= false enough?
• or is a separate event needed?
• M_PWR
• Similiarly is STOP event needed when finished with motors?
  

Created sample applications for:

• Using touch sensor as start button 
• T_SWITCH:    with E_DELAY and E_SWITCH 
• T_SWITCH2:: with E_CYCLE and E_PERMIT

Tutorial0 for Blinky restructured  in usb wiki

ECC interface is a mixture:

event & condition in structured text 

so might need both &s and ANDs

ex. REQ & ((-1000 <= OUT) AND (OUT<= 1000))