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https://github.com/rene-dev/stmbl.git
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26 lines
669 B
Plaintext
26 lines
669 B
Plaintext
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load sserial
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load vel_int
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load linrev
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load idx_home
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sserial0.rt_prio = 2.0
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sserial0.frt_prio = 2.0
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linrev0.rt_prio = 2.1
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vel_int0.rt_prio = 2.2
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idx_home0.rt_prio = 2.3
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linrev0.cmd_in = sserial0.pos_cmd
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linrev0.cmd_d_in = sserial0.pos_cmd_d
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vel_int0.pos_in = linrev0.cmd_out
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vel_int0.vel_in = linrev0.cmd_d_out
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linrev0.fb_in = linrev0.cmd_out
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linrev0.fb_d_in = linrev0.cmd_d_out
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sserial0.index_clear = idx_home0.index_clear
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linrev0.rev_clear = sserial0.index_clear
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sserial0.pos_fb = linrev0.fb_out
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sserial0.vel_fb = linrev0.fb_d_out
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sserial0.pos_advance = 0.0008
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pid0.vel_ext_cmd = rev0.out_d
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vel_int0.wd = 0.002
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io0.cmdy = sserial0.error
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io0.cmdg = 1
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linrev0.scale = 6
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