limit3 - Follow input signal while obeying limits
Limit the output signal to fall between min and max, limit its slew rate to less than maxv per second, and limit its second derivative to less than maxa per second squared. When the signal is a position, this means that the position, velocity, and acceleration are limited.
limit3.N (requires a floating-point thread)
limit3.N.in
float in
limit3.N.enable bit in (default:
1)
1: out follows in, 0: out returns to 0 (always per constraints)
limit3.N.out
float out
limit3.N.load bit in (default:
0)
When TRUE, immediately set out to in, ignoring maxv and maxa
limit3.N.min
float in (default: -1e20)
limit3.N.max float in (default:
1e20)
limit3.N.maxv float in (default:
1e20)
limit3.N.maxa float in (default:
1e20)
limit3.N.smooth-steps u32 in (default:
2)
Smooth out acceleration this many periods before reaching input or max/min limit. Higher values avoid oscillation, but will accelerate slightly more slowly.
GPL