2017-07-01 03:21:03 +00:00
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load adc
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2017-07-09 22:03:00 +00:00
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load reslimit
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2017-07-01 03:21:03 +00:00
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load rev
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load rev
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load rev
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load rev
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load fb_switch
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load vel
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load vel
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load vel
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load pid
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load fault
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load hv
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load iit
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load sim
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load stp
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load io
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2017-09-06 00:01:26 +00:00
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load pe
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2017-07-14 03:41:11 +00:00
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link conf
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2017-07-01 03:21:03 +00:00
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adc0.rt_prio = 1
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2017-07-09 22:03:00 +00:00
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reslimit0.rt_prio = 3
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2017-07-01 03:21:03 +00:00
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rev0.rt_prio = 4
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rev1.rt_prio = 4
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rev2.rt_prio = 4
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rev3.rt_prio = 4
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fb_switch0.rt_prio = 5
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vel0.rt_prio = 6
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vel1.rt_prio = 6
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vel2.rt_prio = 6
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2017-07-22 23:29:12 +00:00
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io0.rt_prio = 7
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2017-07-01 03:21:03 +00:00
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pid0.rt_prio = 8
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fault0.rt_prio = 10
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hv0.rt_prio = 11
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iit0.rt_prio = 12
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sim0.rt_prio = 13
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stp0.rt_prio = 14
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2017-09-06 00:01:26 +00:00
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pe0.rt_prio = 15
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term0.rt_prio = 16
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2017-07-01 03:21:03 +00:00
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rev0.rev = conf0.cmd_rev
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2017-07-14 03:41:11 +00:00
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rev1.rev = conf0.mot_fb_rev
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rev2.rev = conf0.com_fb_rev
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rev3.rev = conf0.joint_fb_rev
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2017-07-19 18:27:21 +00:00
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reslimit0.res = conf0.mot_fb_res
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2017-07-01 03:21:03 +00:00
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vel1.j = conf0.j
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vel2.j = conf0.j
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pid0.j = conf0.j
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pid0.pos_p = conf0.pos_p
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pid0.vel_p = conf0.vel_p
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pid0.vel_i = conf0.vel_i
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pid0.vel_g = conf0.vel_g
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pid0.acc_g = conf0.acc_g
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pid0.g = conf0.g
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pid0.max_usr_vel = conf0.max_vel
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pid0.max_usr_acc = conf0.max_acc
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pid0.max_usr_torque = conf0.max_force
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fault0.max_sat = conf0.max_sat
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fault0.max_pos_error = conf0.max_pos_error
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fault0.max_vel_error = conf0.max_vel_error
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fault0.max_dc_cur = conf0.max_dc_cur
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fault0.max_ac_cur = conf0.max_ac_cur
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fault0.max_dc_volt = conf0.max_dc_volt
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fault0.high_dc_volt = conf0.max_dc_volt
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fault0.min_dc_volt = conf0.min_dc_volt
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fault0.max_hv_temp = conf0.max_hv_temp
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fault0.max_mot_temp = conf0.max_mot_temp
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fault0.high_hv_temp = conf0.high_hv_temp
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fault0.high_mot_temp = conf0.high_mot_temp
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fault0.fan_hv_temp = conf0.fan_hv_temp
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fault0.fan_mot_temp = conf0.fan_mot_temp
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2017-07-02 18:55:08 +00:00
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fault0.phase_on_start = conf0.autophase
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2017-07-01 03:21:03 +00:00
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hv0.rev = conf0.out_rev
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hv0.r = conf0.r
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hv0.l = conf0.l
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hv0.psi = conf0.psi
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hv0.cur_p = conf0.cur_p
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hv0.cur_i = conf0.cur_i
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hv0.cur_ff = conf0.cur_ff
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hv0.cur_ind = conf0.cur_ind
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2017-07-02 18:55:08 +00:00
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hv0.max_cur = conf0.max_ac_cur
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2017-07-19 18:27:21 +00:00
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reslimit0.pos_in = rev0.out
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fb_switch0.cmd_pos = reslimit0.pos_out
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2017-07-01 03:21:03 +00:00
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fb_switch0.mot_pos = rev1.out
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2017-07-02 18:55:08 +00:00
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fb_switch0.com_pos = rev2.out
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fb_switch0.joint_pos = rev3.out
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fb_switch0.polecount = conf0.polecount
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fb_switch0.en = fault0.en_pid
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2017-07-14 03:41:11 +00:00
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fb_switch0.mot_polecount = conf0.mot_fb_polecount
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fb_switch0.joint_polecount = conf0.joint_fb_polecount
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fb_switch0.com_polecount = conf0.com_fb_polecount
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fb_switch0.mot_offset = conf0.mot_fb_offset
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fb_switch0.joint_offset = conf0.joint_fb_offset
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fb_switch0.com_offset = conf0.com_fb_offset
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2017-07-19 18:53:33 +00:00
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vel0.pos_in = rev0.out
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2017-07-01 03:21:03 +00:00
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vel0.en = fault0.en_pid
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vel1.pos_in = fb_switch0.vel_fb
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vel1.en = fault0.en_pid
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vel1.torque = pid0.torque_cor_cmd
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vel2.pos_in = fb_switch0.com_fb
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vel2.en = fault0.en_pid
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vel2.torque = pid0.torque_cor_cmd
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pid0.enable = fault0.en_pid
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2017-07-19 18:53:33 +00:00
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pid0.pos_ext_cmd = reslimit0.pos_out
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2017-07-01 03:21:03 +00:00
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pid0.vel_ext_cmd = vel0.vel
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2017-07-02 18:55:08 +00:00
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pid0.pos_fb = fb_switch0.pos_fb
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2017-07-01 03:21:03 +00:00
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pid0.vel_fb = vel1.vel
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2017-07-19 18:53:33 +00:00
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rev0.in_d = vel0.vel
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2017-07-19 18:27:21 +00:00
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rev1.in_d = vel1.vel
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rev2.in_d = vel2.vel
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2017-07-01 03:21:03 +00:00
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fault0.pos_error = pid0.pos_error
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fault0.vel_error = pid0.vel_error
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fault0.sat = pid0.saturated
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fault0.dc_volt = hv0.dc_volt
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fault0.hv_temp = hv0.hv_temp
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fault0.dc_cur = hv0.dc_cur
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fault0.hv_error = hv0.com_error
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hv0.en = fault0.en_out
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hv0.pos = vel2.pos_out
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hv0.vel = vel2.vel
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2017-07-02 18:55:08 +00:00
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hv0.scale = fault0.scale
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2017-07-01 03:21:03 +00:00
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io0.fan = fault0.hv_fan
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io0.fault = fault0.fault
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io0.state = fault0.state
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2017-09-06 00:01:26 +00:00
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pe0.udc = hv0.dc_volt
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pe0.idc = 0
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pe0.ud = 0
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pe0.uq = 0
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pe0.id = hv0.d_fb
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pe0.iq = hv0.q_fb
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pe0.torque = pid0.torque_cor_cmd
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pe0.vel = vel1.vel
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pe0.r = conf0.r
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pe0.j = conf0.j
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pe0.cap = 0.00054
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