43 lines
1.5 KiB
Plaintext
Executable File
43 lines
1.5 KiB
Plaintext
Executable File
loadrt [KINS]KINEMATICS
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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loadusr -W rotarydelta
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# create HAL signals for position commands from motion module
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# loop position commands back to motion module feedback
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net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
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net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
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net J3pos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
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net J4pos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
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net J5pos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
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net J6pos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
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net J7pos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
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net J8pos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
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net J0cmd joint.0.pos-cmd => rotarydelta.joint0
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net J1cmd joint.1.pos-cmd => rotarydelta.joint1
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net J2cmd joint.2.pos-cmd => rotarydelta.joint2
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net pfr rotarydeltakins.platformradius => rotarydelta.pfr
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net tl rotarydeltakins.thighlength => rotarydelta.tl
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net sl rotarydeltakins.shinlength => rotarydelta.sl
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net fr rotarydeltakins.footradius => rotarydelta.fr
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sets pfr 10
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sets tl 10
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sets sl 18
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sets fr 5
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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