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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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tests/motion/heading/heading.hal Normal file
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# HAL file for sampling motion heading data
loadrt sampler depth=400 cfg=ssfffffffbff
# disable sampler before adding the function
setp sampler.0.enable 0
addf sampler.0 servo-thread
# Net pins to record to the sampler inputs
net line-number motion.interp.line-number => sampler.0.pin.0
net motion-type motion.interp.motion-type => sampler.0.pin.1
net feedrate motion.interp.feedrate => sampler.0.pin.2
net arc-radius motion.interp.arc-radius => sampler.0.pin.3
net arc-center-x motion.interp.arc-center-x => sampler.0.pin.4
net arc-center-y motion.interp.arc-center-y => sampler.0.pin.5
net arc-center-z motion.interp.arc-center-z => sampler.0.pin.6
net heading motion.interp.heading => sampler.0.pin.7
net normal-heading motion.interp.normal-heading => sampler.0.pin.8
net iscircle motion.interp.iscircle => sampler.0.pin.9
net x-pos-fb joint.0.pos-fb => sampler.0.pin.10
net y-pos-fb joint.1.pos-fb => sampler.0.pin.11