sim_home_switch9
Home switch simulator
Usage
loadrt sim_home_switch [count=N|names=name1[,name2...]]
Overview
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.
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 |
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 |
Releases
2 releases since Debian 12 (Bookworm); the text changed 1 time.