sim_home_switch - Home switch simulator
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loadrt sim_home_switch [count=N|names=name1[,name2...]] |
After tripping home switch, travel in opposite direction is required (amount set by the hysteresis pin). A pin (index-enable) is provided for use when [JOINT_n]HOME_USE_INDEX is specified to reset the I/O pin joint.N.index-enable.
sim-home-switch.N (requires a floating-point thread)
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
sim-home-switch.N.index-enable bit io
typ: connect to joint.N.index-enable
sim-home-switch.N.index-delay-ms float in (default: 10)
delay in msec to reset index-enable
Dewey Garrett
GPL