Import LinuxCNC source tree

configs/sim/tklinuxcnc/README

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+Sim files using tklinuxcnc gui:
+
+ldelta.ini
+  -delta robot with linear joints
+
+servo_sim.ini
+  -simulation for a servo machine
+
+tklinuxcnc.ini
+  -tcl/tk interface
+
+tripod.ini
+  -non-trivial kinematics machine

configs/sim/tklinuxcnc/ldelta.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = Delta-robot-with-linear-joints
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = tklinuxcnc
+
+MAX_LINEAR_VELOCITY = 100
+MAX_FEED_OVERRIDE = 1.2
+DEFAULT_LINEAR_VELOCITY = 100
+PROGRAM_PREFIX = ../../../nc_files/
+
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+#EDITOR = geany
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil
+
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = COMMANDED
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python3
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+BASE_PERIOD  = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = sim_ldelta.hal
+HALFILE = axis_manualtoolchange.hal
+HALUI = halui
+
+[TRAJ]
+COORDINATES = X Y Z A
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 10
+MAX_LINEAR_VELOCITY = 10
+
+[KINS]
+KINEMATICS = lineardeltakins
+JOINTS = 4
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 270
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000.0
+MIN_LIMIT = 0
+MAX_LIMIT = 375
+HOME_OFFSET = 375
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 270
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000.0
+MIN_LIMIT = 0
+MAX_LIMIT = 375
+HOME_OFFSET = 375
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 270
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000.0
+MIN_LIMIT = 0
+MAX_LIMIT = 375
+HOME_OFFSET = 375
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = LINEAR
+HOME = 0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 500.0
+MIN_LIMIT = -1e6
+MAX_LIMIT = 1e6
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_X]
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000
+MIN_LIMIT = -95
+MAX_LIMIT = 150
+
+[AXIS_Y]
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000
+MIN_LIMIT = -95
+MAX_LIMIT = 95
+
+[AXIS_Z]
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000
+MIN_LIMIT = -5
+MAX_LIMIT = 35
+
+[AXIS_A]
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1000
+MIN_LIMIT = -1e6
+MAX_LIMIT = 1e6
+
+[EMCIO]
+TOOL_TABLE = sim.tbl

configs/sim/tklinuxcnc/screwcompX.dat

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+../screwcompX.dat

configs/sim/tklinuxcnc/servo_sim.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-HAL-SERVO-SIM
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = tklinuxcnc
+CYCLE_TIME = 0.100
+HELP_FILE = tklinuxcnc.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD = 50000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALFILE = servo_sim.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 0.167
+MAX_LINEAR_VELOCITY = 1.5
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 20.0
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+
+# our simulated "joints" consist of motors with 100 PPR
+# (400 count per rev) encoders, coupled to 5 TPI screws
+# thru a 3:1 belt reduction.
+# So the scaling is 400 CPR * 3 * 5 = 6000 counts/inch
+# Since we are using software encoder counters with a
+# base period of 50uS (20KHz) the maximum count rate is
+# 10KHz, which works out to 1.667 inches per second.
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+COMP_FILE = screwcompX.dat
+COMP_FILE_TYPE = 0
+MOTOR_PPR = 100
+DRIVE_RATIO = 15
+INPUT_SCALE = 6000
+OUTPUT_SCALE = 1.000
+# extra limit related info for simulation
+# the HARD_LIMIT variables determine when the simulated
+# hardware limit switches trip and release
+MIN_HARD_LIMIT_RELEASE = -10.5
+MIN_HARD_LIMIT = -10.2
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_HARD_LIMIT = 10.2
+MAX_HARD_LIMIT_RELEASE = 10.5
+# the HOME_SW variables determine when the simulated
+# home switch trips and releases
+HOME_SW_MIN = 9.5
+HOME_SW_MAX = 9.8
+HOME_OFFSET = 10.0
+HOME_SEARCH_VEL = 1.0
+HOME_LATCH_VEL = 0.5
+# PID tuning params
+DEADBAND = 0.0001
+PGAIN = 1500.0
+IGAIN = 8000.0
+DGAIN = 4.0
+FF0 = 0.000
+FF1 = 1.000
+FF2 = 0.000
+BIAS = 0.000
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+MOTOR_PPR = 100
+DRIVE_RATIO = 15
+INPUT_SCALE = 6000
+OUTPUT_SCALE = 1.000
+MIN_HARD_LIMIT_RELEASE = -10.5
+MIN_HARD_LIMIT = -10.2
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_HARD_LIMIT = 10.2
+MAX_HARD_LIMIT_RELEASE = 10.5
+HOME_SW_MIN = 9.5
+HOME_SW_MAX = 9.8
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+# PID tuning params
+DEADBAND = 0.0001
+PGAIN = 1500.0
+IGAIN = 8000.0
+DGAIN = 4.0
+FF0 = 0.000
+FF1 = 1.000
+FF2 = 0.000
+BIAS = 0.000
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+MOTOR_PPR = 100
+DRIVE_RATIO = 15
+INPUT_SCALE = 6000
+OUTPUT_SCALE = 1.000
+MIN_HARD_LIMIT_RELEASE = -2.5
+MIN_HARD_LIMIT = -2.2
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_HARD_LIMIT = 4.2
+MAX_HARD_LIMIT_RELEASE = 4.5
+HOME_SW_MIN = 0.0
+HOME_SW_MAX = 0.1
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+# PID tuning params
+DEADBAND = 0.0001
+PGAIN = 1500.0
+IGAIN = 8000.0
+DGAIN = 4.0
+FF0 = 0.000
+FF1 = 1.000
+FF2 = 0.000
+BIAS = 0.000

configs/sim/tklinuxcnc/sim.tbl

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+../sim.tbl

configs/sim/tklinuxcnc/tklinuxcnc.ini

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+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+# Version of this INI file
+VERSION = 1.1
+
+# Name of machine, for use with display, etc.
+MACHINE = LinuxCNC-HAL-SIM-TkLinuxCNC
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+DISPLAY = tklinuxcnc
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME = 0.100
+
+# Path to help file
+HELP_FILE = tklinuxcnc.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET = RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK = ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE = 1.2
+
+# Lowest value that will be allowed for spindle speed override, 1.0 = 100%
+MIN_SPINDLE_OVERRIDE = 0.5
+
+# Highest value that will be allowed for spindle speed override, 1.0 = 100%
+MAX_SPINDLE_OVERRIDE = 1.5
+
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT = 1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  = 0
+# Servo task period, in nano-seconds
+SERVO_PERIOD = 1000000
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+# tool table file
+TOOL_TABLE = sim.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK = milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME = 0.010
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD = save neta
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 0.0167
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 20.0
+
+# Axes sections ---------------------------------------------------------------
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0

configs/sim/tklinuxcnc/tripod.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-TRIPOD-SIM-TkLinuxCNC
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = tklinuxcnc
+CYCLE_TIME = 0.100
+HELP_FILE = tklinuxcnc.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .dxf 3D Polygon Model
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode.py
+gif = image-to-gcode.py
+jpg = image-to-gcode.py
+dxf = toolpaths.py
+py = python3
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALFILE = tripodsim.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 20.0
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+
+[KINS]
+KINEMATICS = tripodkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -1.0
+MAX_LIMIT = 20.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 6.123
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -1.0
+MAX_LIMIT = 20.0
+HOME_OFFSET = 6.123
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+
+[AXIS_Y]
+MIN_LIMIT = -1.0
+MAX_LIMIT = 20.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 6.123
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -1.0
+MAX_LIMIT = 20.0
+HOME_OFFSET = 6.123
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+
+[AXIS_Z]
+MIN_LIMIT = -1.0
+MAX_LIMIT = 20.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 6.123
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -1.0
+MAX_LIMIT = 20.0
+HOME_OFFSET = 6.123
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0

configs/sim/tklinuxcnc/trivkins/README

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+trivkins examples
+
+xz.ini           KINEMATICS_IDENTITY
+
+xz_both.ini      KINEMATICS_BOTH
+
+NOTE:
+!!!  [TRAJ]COORDINATES MUST AGREE WITH KINS:
+!!!  [TRAJ]COORDINATES = xz
+
+xz.ini
+  [KINS]KINEMATICS=trivkins coordinates=xz
+
+xz_both.ini
+  KINEMATICS = trivkins coordinates=xz kinstype=BOTH

configs/sim/tklinuxcnc/trivkins/xz.ini

@@ -0,0 +1,12 @@
+#INCLUDE xzbase.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = trivkins XZ KINEMATICS_IDENTITY
+DEBUG = 0
+
+[KINS]
+# Note: coordinates must agree with [TRAJ]COORDINATES
+# trivkins with no kinstype defaults to KINEMATICS_IDENTITY
+KINEMATICS = trivkins coordinates=xz
+JOINTS = 2

configs/sim/tklinuxcnc/trivkins/xz.tbl

@@ -0,0 +1,2 @@
+T1 P1 D0.100000 X-0.333000 Z+0.100000 ;
+T2 P2 D0.200000 Z+0.200000 ;

configs/sim/tklinuxcnc/trivkins/xz_both.ini

@@ -0,0 +1,11 @@
+#INCLUDE xzbase.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = trivkins XZ KINEMATICS_BOTH
+DEBUG = 0
+
+[KINS]
+# Note: coordinates must agree with [TRAJ]COORDINATES
+KINEMATICS = trivkins coordinates=xz kinstype=BOTH
+JOINTS = 2

configs/sim/tklinuxcnc/trivkins/xzbase.inc

@@ -0,0 +1,90 @@
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+  HALUI = halui
+
+[TRAJ]
+         COORDINATES = XZ
+        LINEAR_UNITS = inch
+       ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_VELOCITY = 4.44444
+MAX_LINEAR_ACCELERATION = 22.2222
+
+[DISPLAY]
+             DISPLAY = tklinuxcnc
+               LATHE = 1
+              #EDITOR = geany
+         TOOL_EDITOR = tooledit diam z
+      PROGRAM_PREFIX = ../../nc_files/
+          CYCLE_TIME = 0.100
+           HELP_FILE = doc/help.txt
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+       INTRO_GRAPHIC = linuxcnc.gif
+          INTRO_TIME = 5
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+              png = image-to-gcode
+              gif = image-to-gcode
+              jpg = image-to-gcode
+               py = python3
+
+[RS274NGC]
+PARAMETER_FILE = xz.var
+
+[EMCMOT]
+      EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+ BASE_PERIOD = 50000
+SERVO_PERIOD = 1000000
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+
+
+[EMCIO]
+                 TOOL_TABLE = xz.tbl
+       TOOL_CHANGE_POSITION = 2 0 1
+TOOL_CHANGE_WITH_SPINDLE_ON = 1
+
+[JOINT_0]
+              TYPE = LINEAR
+              HOME = 0.000
+      MAX_VELOCITY = 3.3
+  MAX_ACCELERATION = 20.3
+         MIN_LIMIT = -10.0
+         MAX_LIMIT = 10.0
+       HOME_OFFSET = 1.0
+   HOME_SEARCH_VEL = 5.0
+    HOME_LATCH_VEL = 1.0
+     HOME_SEQUENCE = 0
+
+[JOINT_1]
+              TYPE = LINEAR
+              HOME = 0.0
+      MAX_VELOCITY = 3.4
+  MAX_ACCELERATION = 20.4
+         MIN_LIMIT = -2.0
+         MAX_LIMIT = 4.0
+       HOME_OFFSET = 1.0
+   HOME_SEARCH_VEL = 5.0
+    HOME_LATCH_VEL = 1.0
+     HOME_SEQUENCE = 1
+
+[AXIS_X]
+       MIN_LIMIT = -10.0
+       MAX_LIMIT = 10.0
+    MAX_VELOCITY = 3.1
+MAX_ACCELERATION = 20.1
+
+[AXIS_Z]
+       MIN_LIMIT = -2.0
+       MAX_LIMIT = 4.0
+    MAX_VELOCITY = 3.2
+MAX_ACCELERATION = 20.2