64 lines
1.3 KiB
Plaintext
64 lines
1.3 KiB
Plaintext
setexact_for_test_suite_only
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loadrt limit3
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# These pos/vel/accel limits are just a hair above the limits of the
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# input sine wave.
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setp limit3.0.min -150
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setp limit3.0.max 50
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setp limit3.0.maxv 630
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setp limit3.0.maxa 4000
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loadrt siggen
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setp siggen.0.amplitude 50
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setp siggen.0.offset -50
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loadrt ddt names=ddt.in-accel,ddt.in-vel,ddt.out-accel,ddt.out-vel
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loadrt sampler depth=2000 cfg=ffffff
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# We use the cosine signal as the input so that the velocity and
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# acceleration start out at 0, and we offset it by the negative of the
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# amplitude so that position start out at 0 too.
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net input <= siggen.0.cosine
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net input => limit3.0.in
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net input => ddt.in-vel.in
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net input => sampler.0.pin.0
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net in-vel <= ddt.in-vel.out
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net in-vel => ddt.in-accel.in
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net in-vel => sampler.0.pin.1
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net in-accel <= ddt.in-accel.out
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net in-accel => sampler.0.pin.2
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net output <= limit3.0.out
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net output => ddt.out-vel.in
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net output => sampler.0.pin.3
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net out-vel <= ddt.out-vel.out
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net out-vel => ddt.out-accel.in
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net out-vel => sampler.0.pin.4
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net out-accel <= ddt.out-accel.out
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net out-accel => sampler.0.pin.5
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loadrt threads name1=t period1=1000000
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addf siggen.0.update t
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addf limit3.0 t
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addf ddt.in-vel t
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addf ddt.in-accel t
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addf ddt.out-vel t
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addf ddt.out-accel t
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addf sampler.0 t
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start
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loadusr -w halsampler -t -n 4000
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