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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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tests/trajectory-planner/circular-arcs/configs/axis-A.tcl Normal file
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# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Apos axis.3.motor-pos-cmd => axis.3.motor-pos-fb ddt_a.in
# send the position commands thru differentiators to
# generate velocity and accel signals
net Avel ddt_a.out => ddt_av.in
net Aacc <= ddt_av.out
#Conservative limits
set acc_limit 1.0001
set vel_limit 1.01
setp wcomp_aacc.max $::AXIS_3(MAX_ACCELERATION)*$acc_limit
setp wcomp_aacc.min $::AXIS_3(MAX_ACCELERATION)*-1.0*$acc_limit
setp wcomp_avel.max $::AXIS_3(MAX_VELOCITY)*$vel_limit
setp wcomp_avel.min $::AXIS_3(MAX_VELOCITY)*-1.0*$vel_limit
# Enable match_all pins for A axis
setp match_all.b6 1
setp match_all.b7 1