SIM_HOME_SWITCH

NAME
SYNOPSIS
DESCRIPTION
FUNCTIONS
PINS
LICENSE

NAME

sim_home_switch − Simple home switch simulator

SYNOPSIS

loadrt sim_home_switch [count=N|names=name1[,name2...]]

DESCRIPTION

After tripping home switch, travel in opposite direction is required (amount set by the hysteresis pin)

FUNCTIONS

sim-home-switch.N

(requires a floating-point thread)

PINS

sim-home-switch.N.cur-pos

float in Current position (typically: joint.n.motor-pos-fb)

sim-home-switch.N.home-pos

float in (default: 1) Home switch position

sim-home-switch.N.hysteresis

float in (default: 0.1) Travel required to backoff (hysteresis)

sim-home-switch.N.home-sw

bit out Home switch activated

LICENSE

GPL