mirror of https://github.com/rene-dev/stmbl.git
37 lines
676 B
Plaintext
37 lines
676 B
Plaintext
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load ids
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ids0.rt_prio = 4
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ids0.en = fault0.en_out
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pid0.pos_ext_cmd = ids0.pos_cmd
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pid0.vel_ext_cmd = ids0.vel_cmd
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pid0.acc_ext_cmd = ids0.acc_cmd
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pid0.pos_bw = ids0.pos_bw
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pid0.vel_bw = ids0.vel_bw
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pid0.vel_d = ids0.vel_d
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ids0.pos_error = pid0.pos_error
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ids0.vel_error = pid0.vel_error
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ids0.cur_bw = conf0.cur_bw
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conf0.max_pos_error = 0
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conf0.max_sat = 10
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conf0.vel_g = 1
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term0.wave0 = ids0.pos_cmd
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term0.wave2 = ids0.vel_cmd
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term0.wave4 = ids0.min_cost
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term0.gain4 = 20
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#term0.wave1 = ids0.cost
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#term0.gain1 = 20
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term0.wave5 = ids0.pos_bw
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term0.gain5 = 1.0;
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term0.wave6 = ids0.vel_bw
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term0.gain6 = 0.1
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term0.wave7 = ids0.vel_d
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term0.gain7 = 10.0
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term0.send_step = 21 |