23 lines
1.0 KiB
Plaintext
23 lines
1.0 KiB
Plaintext
# HAL file for sampling motion heading data
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loadrt sampler depth=400 cfg=ssfffffffbff
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# disable sampler before adding the function
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setp sampler.0.enable 0
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addf sampler.0 servo-thread
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# Net pins to record to the sampler inputs
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net line-number motion.interp.line-number => sampler.0.pin.0
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net motion-type motion.interp.motion-type => sampler.0.pin.1
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net feedrate motion.interp.feedrate => sampler.0.pin.2
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net arc-radius motion.interp.arc-radius => sampler.0.pin.3
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net arc-center-x motion.interp.arc-center-x => sampler.0.pin.4
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net arc-center-y motion.interp.arc-center-y => sampler.0.pin.5
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net arc-center-z motion.interp.arc-center-z => sampler.0.pin.6
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net heading motion.interp.heading => sampler.0.pin.7
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net normal-heading motion.interp.normal-heading => sampler.0.pin.8
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net iscircle motion.interp.iscircle => sampler.0.pin.9
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net x-pos-fb joint.0.pos-fb => sampler.0.pin.10
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net y-pos-fb joint.1.pos-fb => sampler.0.pin.11
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