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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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tests/hard-limits/hard-limits.hal Normal file
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loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
addf motion-command-handler servo-thread
addf motion-controller servo-thread
net xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net x-neg-lim-sw => joint.0.neg-lim-sw-in
net ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in