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