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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-Y.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 Ypos axis.1.motor-pos-cmd => axis.1.motor-pos-fb ddt_y.in
# send the position commands thru differentiators to
# generate velocity and accel signals
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
#Conservative limits
set acc_limit 1.0001
set vel_limit 1.01
setp wcomp_yacc.max $::AXIS_1(MAX_ACCELERATION)*$acc_limit
setp wcomp_yacc.min $::AXIS_1(MAX_ACCELERATION)*-1.0*$acc_limit
setp wcomp_yvel.max $::AXIS_1(MAX_VELOCITY)*$vel_limit
setp wcomp_yvel.min $::AXIS_1(MAX_VELOCITY)*-1.0*$vel_limit
# Enable match_all pins for Y axis
setp match_all.b2 1
setp match_all.b3 1