2017-07-19 15:38:47 +00:00
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load sserial
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load vel_int
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2017-07-19 21:11:24 +00:00
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load linrev
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2017-10-23 16:17:59 +00:00
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load idx_home
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2017-07-19 15:38:47 +00:00
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sserial0.rt_prio = 2.0
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sserial0.frt_prio = 2.0
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2017-07-19 21:11:24 +00:00
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linrev0.rt_prio = 2.1
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vel_int0.rt_prio = 2.2
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2017-10-23 16:17:59 +00:00
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idx_home0.rt_prio = 2.3
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2017-07-19 21:11:24 +00:00
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linrev0.cmd_in = sserial0.pos_cmd
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2017-07-26 16:45:58 +00:00
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linrev0.cmd_d_in = sserial0.pos_cmd_d
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2017-07-19 21:11:24 +00:00
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vel_int0.pos_in = linrev0.cmd_out
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2017-07-26 16:45:58 +00:00
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vel_int0.vel_in = linrev0.cmd_d_out
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2017-07-19 18:27:21 +00:00
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fault0.en = sserial0.enable
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2017-07-19 15:38:47 +00:00
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sserial0.fault = fault0.fault
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2017-07-19 18:27:21 +00:00
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fault0.cmd_error = sserial0.error
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2017-10-23 16:17:59 +00:00
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linrev0.fb_in = idx_home0.pos_out
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2017-11-01 21:50:12 +00:00
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linrev0.fb_d_in = vel1.vel
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2017-10-23 16:17:59 +00:00
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idx_home0.fb = fb_switch0.mot_fb_no_offset
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idx_home0.fb_abs = fb_switch0.mot_abs_fb_no_offset
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idx_home0.index_en = sserial0.index_out
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idx_home0.mot_state = fb_switch0.mot_state
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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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2017-07-19 21:11:24 +00:00
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sserial0.pos_fb = linrev0.fb_out
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2017-11-01 21:50:12 +00:00
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sserial0.vel_fb = linrev0.fb_d_out
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2017-11-01 22:19:21 +00:00
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sserial0.pos_advance = 0.0008
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2017-07-19 18:27:21 +00:00
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rev0.in = vel_int0.pos_out
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rev0.in_d = vel_int0.vel_out
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pid0.vel_ext_cmd = rev0.out_d
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2017-07-19 15:38:47 +00:00
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vel_int0.wd = 0.002
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2017-07-19 18:27:21 +00:00
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vel0.en = 0
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2017-07-23 22:58:34 +00:00
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io0.cmdy = sserial0.error
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io0.cmdg = 1
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2017-11-05 22:01:28 +00:00
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sserial0.in0 = io0.ind0
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sserial0.in1 = io0.ind1
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io0.out0 = sserial0.out0
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io0.out1 = sserial0.out1
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io0.out2 = sserial0.out2
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fault0.brake_release = sserial0.out3
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term0.wave2 = linrev0.cmd_d_out
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2017-12-04 15:48:44 +00:00
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sserial0.current = hv0.q_fb
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2017-12-06 17:38:55 +00:00
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linrev0.scale = sserial0.scale
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