SYNOPSIS
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.
FUNCTIONS
- limit3.N
PINS
- limit3.N.in real in
- limit3.N.enable bool in (default: 1)
-
1: out follows in, 0: out returns to 0 (always per constraints)
- limit3.N.out real out
- limit3.N.load bool in (default: 0)
-
When TRUE, immediately set out to in, ignoring maxv and maxa
- limit3.N.min- real in (default: -1e20)
- limit3.N.max- real in (default: 1e20)
- limit3.N.maxv real in (default: 1e20)
- limit3.N.maxa real in (default: 1e7)
-
Max Acceleration. Note that the component becomes unstable with maxa greater than about 1e7 in a 1kHz thread
- limit3.N.smooth-steps ui32 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.
AUTHOR
John Kasunich
LICENSE
GPL