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25 lines
616 B
Plaintext
25 lines
616 B
Plaintext
load sserial
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load vel_int
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load linrev
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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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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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fault0.en = sserial0.enable
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sserial0.fault = fault0.fault
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fault0.cmd_error = sserial0.error
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fault0.brake_release = sserial0.out0
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linrev0.fb_in = rev1.out
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sserial0.pos_fb = linrev0.fb_out
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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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vel_int0.wd = 0.002
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vel0.en = 0
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io0.cmdy = sserial0.error
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io0.cmdg = 1
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