38 lines
1.2 KiB
Plaintext
38 lines
1.2 KiB
Plaintext
# HAL config file for Vigilant Technologoes VTI PCI board
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#
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# install driver, this should autodetect the board
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# if that doesn't work, try using base=0xABC, where ABC matches your setup
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# loadrt hal_stg base=0x200
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loadrt hal_vti num_chan=4 dio="IOIO"
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# add functions to servo thread so they will be evaluated
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# every servo period
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# read inputs first
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addf vti.capture-position servo-thread 1
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# write outputs last
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addf vti.write-dacs servo-thread -1
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# connect position feedback signals to encoders
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net Xpos-fb <= vti.0.position
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net Ypos-fb <= vti.1.position
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net Zpos-fb <= vti.2.position
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# get feedback scaling from ini file
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setp vti.0.position-scale [JOINT_0]INPUT_SCALE
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setp vti.1.position-scale [JOINT_1]INPUT_SCALE
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setp vti.2.position-scale [JOINT_2]INPUT_SCALE
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# connect PID output signals to DACs
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net Xoutput => vti.0.dac-value
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net Youtput => vti.1.dac-value
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net Zoutput => vti.2.dac-value
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# set output scaling from ini file
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setp vti.0.dac-gain [JOINT_0]OUTPUT_SCALE
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setp vti.1.dac-gain [JOINT_1]OUTPUT_SCALE
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setp vti.2.dac-gain [JOINT_2]OUTPUT_SCALE
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# set output offset to zero
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setp vti.0.dac-offset [JOINT_0]OUTPUT_OFFSET
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setp vti.1.dac-offset [JOINT_1]OUTPUT_OFFSET
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setp vti.2.dac-offset [JOINT_2]OUTPUT_OFFSET
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