64 lines
1.4 KiB
Plaintext
Executable File
64 lines
1.4 KiB
Plaintext
Executable File
# HAL config file to check vel/acc constraints
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#
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loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel
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addf wcomp_xacc servo-thread
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addf wcomp_xvel servo-thread
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addf wcomp_yacc servo-thread
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addf wcomp_yvel servo-thread
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addf wcomp_zacc servo-thread
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addf wcomp_zvel servo-thread
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net Xacc => wcomp_xacc.in
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net Xvel => wcomp_xvel.in
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net Yacc => wcomp_yacc.in
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net Yvel => wcomp_yvel.in
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net Zacc => wcomp_zacc.in
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net Zvel => wcomp_zvel.in
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net acc-ok-x <= wcomp_xacc.out
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net vel-ok-x <= wcomp_xvel.out
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net acc-ok-y <= wcomp_yacc.out
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net vel-ok-y <= wcomp_yvel.out
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net acc-ok-z <= wcomp_zacc.out
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net vel-ok-z <= wcomp_zvel.out
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setp wcomp_xacc.max 50.001
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setp wcomp_xacc.min -50.001
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setp wcomp_xvel.max 5.001
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setp wcomp_xvel.min -5.001
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setp wcomp_yacc.max 50.001
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setp wcomp_yacc.min -50.001
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setp wcomp_yvel.max 5.001
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setp wcomp_yvel.min -5.001
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setp wcomp_zacc.max 50.001
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setp wcomp_zacc.min -50.001
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setp wcomp_zvel.max 5.001
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setp wcomp_zvel.min -5.001
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loadrt match8 names=match_all
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addf match_all servo-thread
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net acc-ok-x => match_all.a0
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setp match_all.b0 1
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net vel-ok-x => match_all.a1
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setp match_all.b1 1
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net acc-ok-y => match_all.a2
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setp match_all.b2 1
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net vel-ok-y => match_all.a3
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setp match_all.b3 1
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net acc-ok-z => match_all.a4
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setp match_all.b4 1
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net vel-ok-z => match_all.a5
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setp match_all.b5 1
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setp match_all.a6 0
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setp match_all.a7 0
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setp match_all.b6 0
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setp match_all.b7 0
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setp match_all.in 1
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net constraints-ok <= match_all.out
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