30 lines
812 B
Plaintext
30 lines
812 B
Plaintext
# This hal file simulates home switches
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loadrt comp names=comp_x,comp_y,comp_z
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# set fixed value for position of virtual switches (use 'in0' for positive and 'in1' for negative values)
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net Xhomeswpos => comp_x.in0
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net Yhomeswpos => comp_y.in0
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net Zhomeswpos => comp_z.in0
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sets Xhomeswpos 1
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sets Yhomeswpos .5
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sets Zhomeswpos 2
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# link current position if simulated machine to the other input of the comp functions
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net Xpos => comp_x.in1
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net Ypos => comp_y.in1
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net Zpos => comp_z.in1
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# set hysteresis of virtual home switches
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setp comp_x.hyst .02
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setp comp_y.hyst .02
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setp comp_z.hyst .02
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net Xhomesw <= comp_x.out => joint.0.home-sw-in
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net Yhomesw <= comp_y.out => joint.1.home-sw-in
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net Zhomesw <= comp_z.out => joint.2.home-sw-in
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addf comp_x servo-thread
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addf comp_y servo-thread
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addf comp_z servo-thread
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