Halting while in analog control

Support Motor controllers/drivers and motors
1

I am writing code in C++. TIC 834 version 1.8.2.
I have used Serial control with an on/off type joystick and processor and the haltAndHold command works fine.

Now I am asked to implement an analog (potentiometer) type joystick. I have connected this to the TIC analog pins (as opposed to accomplishing this to the processor). This works nicely for controlling speeds as expected. I am continuing to use the processor for setup ,to set the stepsize(mode) and to halt/deenergize as needed.

However I am having trouble halting the motor quickly when the stick is centered. The motor ignores this and simply de-accelerates at the set rate. As a workaround I have set the deacceleration value very high (500E6) but I would prefer the Halt. Looking at the manual:
" If the control mode is something other than Serial / I²C / USB, this command will be silently ignored."
So I am guessing the Halt command no longer works in Serial mode?
What is the suggested work-around?

Thanks
Fritz

# Pololu Tic USB Stepper Controller settings file.
# https://www.pololu.com/docs/0J71
product: T834
control_mode: analog_speed
never_sleep: false
disable_safe_start: false
ignore_err_line_high: false
auto_clear_driver_error: true
soft_error_response: deenergize
soft_error_position: 0
serial_baud_rate: 9600
serial_device_number: 14
serial_alt_device_number: 0
serial_enable_alt_device_number: false
serial_14bit_device_number: false
command_timeout: 0
serial_crc_for_commands: false
serial_crc_for_responses: false
serial_7bit_responses: false
serial_response_delay: 0
vin_calibration: 0
input_averaging_enabled: true
input_hysteresis: 0
input_scaling_degree: cubic
input_invert: false
input_min: 45
input_neutral_min: 1887
input_neutral_max: 2092
input_max: 3935
output_min: -400000000
output_max: 400000000
encoder_prescaler: 1
encoder_postscaler: 1
encoder_unlimited: false
scl_config: default
sda_config: default
tx_config: default
rx_config: default
rc_config: limit_switch_forward active_high
invert_motor_direction: false
max_speed: 10000000
starting_speed: 0
max_accel: 40000
max_decel: 500000000
step_mode: 1
current_limit: 192
current_limit_during_error: -1
decay_mode: mixed50
auto_homing: false
auto_homing_forward: false
homing_speed_towards: 1000000
homing_speed_away: 500000
2

Hello.

If you do not want to dynamically update the deceleration, one way to get the motor to halt might be to intentionally trigger a soft error response from your serial device and configure the soft error response (in th “Advanced settings” of the Tic Control Center) to “Halt and hold”. You can use the “Get variable” command to read the analog input pin or the target velocity and trigger a soft error response by driving the ERR pin high; see the “Error handling” section of the user’s guide for more details about the ERR pin.

Alternatively, reading the analog input with your serial device and using the serial interface to control the speed as I mentioned in your other thread would allow you to use the halt commands.

Brandon