SIM_AXIS_HARDWARE

NAME

sim_axis_hardware − A component to simulate home and limit switches

SYNOPSIS

DESCRIPTION

This component creates simulated home and limit switches based on the current position.
It currently can supply simulation for X,Y,Z and A axes.

FUNCTIONS

sim-axis-hardware.N.update (requires a floating-point thread)

PINS

sim-axis-hardware.N.Xcurrent-pos float in

The current position on the axis - eg connect to axis.0.joint-pos-fb

sim-axis-hardware.N.Ycurrent-pos float in
sim-axis-hardware.N.Zcurrent-pos float in
sim-axis-hardware.N.Acurrent-pos float in
sim-axis-hardware.N.Xhomesw-pos float in (default: 1)

The position of the home switch

sim-axis-hardware.N.Yhomesw-pos float in (default: 1)
sim-axis-hardware.N.Zhomesw-pos float in (default: 1)
sim-axis-hardware.N.Ahomesw-pos float in (default: 1)
sim-axis-hardware.N.Xmaxsw-upper float in

The upper range of the maximum limit switch, above this is false.

sim-axis-hardware.N.Ymaxsw-upper float in
sim-axis-hardware.N.Zmaxsw-upper float in
sim-axis-hardware.N.Amaxsw-upper float in
sim-axis-hardware.N.Xmaxsw-lower float in

The lower range of the maximum limit switch, below this is false.

sim-axis-hardware.N.Ymaxsw-lower float in
sim-axis-hardware.N.Zmaxsw-lower float in
sim-axis-hardware.N.Amaxsw-lower float in
sim-axis-hardware.N.Xminsw-upper float in

The upper range of the minimum limit switch, above this is false.

sim-axis-hardware.N.Yminsw-upper float in
sim-axis-hardware.N.Zminsw-upper float in
sim-axis-hardware.N.Aminsw-upper float in
sim-axis-hardware.N.Xminsw-lower float in

The lower range of the minimum limit switch, below this is false.

sim-axis-hardware.N.Yminsw-lower float in
sim-axis-hardware.N.Zminsw-lower float in
sim-axis-hardware.N.Aminsw-lower float in
sim-axis-hardware.N.Xhomesw-hyst float in (default: .02)

range that home switch will be true +- half this to the home position

sim-axis-hardware.N.Yhomesw-hyst float in (default: .02)
sim-axis-hardware.N.Zhomesw-hyst float in (default: .02)
sim-axis-hardware.N.Ahomesw-hyst float in (default: .02)
sim-axis-hardware.N.Xhomesw-out bit out

Home switch for the X axis

sim-axis-hardware.N.Yhomesw-out bit out
sim-axis-hardware.N.Zhomesw-out bit out
sim-axis-hardware.N.Ahomesw-out bit out
sim-axis-hardware.N.homesw-all bit out
sim-axis-hardware.N.Xmaxsw-out bit out

Max limit switch

sim-axis-hardware.N.Xminsw-out bit out

min limit switch

sim-axis-hardware.N.Xbothsw-out bit out

True for both max and min limit switch

sim-axis-hardware.N.Ymaxsw-out bit out
sim-axis-hardware.N.Yminsw-out bit out
sim-axis-hardware.N.Ybothsw-out bit out
sim-axis-hardware.N.Zmaxsw-out bit out
sim-axis-hardware.N.Zminsw-out bit out
sim-axis-hardware.N.Zbothsw-out bit out
sim-axis-hardware.N.Amaxsw-out bit out
sim-axis-hardware.N.Aminsw-out bit out
sim-axis-hardware.N.Abothsw-out bit out
sim-axis-hardware.N.limitsw-all bit out
sim-axis-hardware.N.limitsw-homesw-all bit out

True for all limits and all home.

sim-axis-hardware.N.Xmaxsw-homesw-out bit out
sim-axis-hardware.N.Xminsw-homesw-out bit out
sim-axis-hardware.N.Xbothsw-homesw-out bit out
sim-axis-hardware.N.Ymaxsw-homesw-out bit out
sim-axis-hardware.N.Yminsw-homesw-out bit out
sim-axis-hardware.N.Ybothsw-homesw-out bit out
sim-axis-hardware.N.Zmaxsw-homesw-out bit out
sim-axis-hardware.N.Zminsw-homesw-out bit out
sim-axis-hardware.N.Zbothsw-homesw-out bit out
sim-axis-hardware.N.Amaxsw-homesw-out bit out
sim-axis-hardware.N.Aminsw-homesw-out bit out
sim-axis-hardware.N.Abothsw-homesw-out bit out
sim-axis-hardware.N.limit-offset float in (default: .01)

how much the limit switches are offset from inputed position. added to max, subracted from min

AUTHOR

Chris Morley

LICENSE

GPL