SYNOPSIS
loadrt sim_axis_hardware [count=N|names=name1[,name2…]]
DESCRIPTION
This component creates simulated home and limit switches based on the current position. .br It currently can supply simulation for X, tandem X, Y, tandem Y, Z, U, V, and A axes.
FUNCTIONS
- sim-axis-hardware.N.update (requires a floating-point thread)
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PINS
- sim-axis-hardware.N.Xcurrent-pos float in
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The current position on the axis - eg connect to joint.0.motor-pos-fb
- sim-axis-hardware.N.X2current-pos float in
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- sim-axis-hardware.N.Ycurrent-pos float in
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- sim-axis-hardware.N.Y2current-pos float in
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- sim-axis-hardware.N.Zcurrent-pos float in
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- sim-axis-hardware.N.Acurrent-pos float in
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- sim-axis-hardware.N.Ucurrent-pos float in
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- sim-axis-hardware.N.Vcurrent-pos float in
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- sim-axis-hardware.N.Xhomesw-pos float in (default: 1)
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The position of the home switch
- sim-axis-hardware.N.X2homesw-pos float in (default: 1)
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- sim-axis-hardware.N.Yhomesw-pos float in (default: 1)
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- sim-axis-hardware.N.Y2homesw-pos float in (default: 1)
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- sim-axis-hardware.N.Zhomesw-pos float in (default: 1)
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- sim-axis-hardware.N.Ahomesw-pos float in (default: 1)
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- sim-axis-hardware.N.Uhomesw-pos float in (default: 1)
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- sim-axis-hardware.N.Vhomesw-pos float in (default: 1)
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- sim-axis-hardware.N.Xmaxsw-upper float in
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The upper range of the maximum limit switch, above this is false.
- sim-axis-hardware.N.X2maxsw-upper float in
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- sim-axis-hardware.N.Ymaxsw-upper float in
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- sim-axis-hardware.N.Y2maxsw-upper float in
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- sim-axis-hardware.N.Zmaxsw-upper float in
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- sim-axis-hardware.N.Amaxsw-upper float in
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- sim-axis-hardware.N.Umaxsw-upper float in
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- sim-axis-hardware.N.Vmaxsw-upper float in
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- sim-axis-hardware.N.Xmaxsw-lower float in
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The lower range of the maximum limit switch, below this is false.
- sim-axis-hardware.N.X2maxsw-lower float in
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- sim-axis-hardware.N.Ymaxsw-lower float in
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- sim-axis-hardware.N.Y2maxsw-lower float in
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- sim-axis-hardware.N.Zmaxsw-lower float in
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- sim-axis-hardware.N.Amaxsw-lower float in
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- sim-axis-hardware.N.Umaxsw-lower float in
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- sim-axis-hardware.N.Vmaxsw-lower float in
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- sim-axis-hardware.N.Xminsw-upper float in
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The upper range of the minimum limit switch, above this is false.
- sim-axis-hardware.N.X2minsw-upper float in
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- sim-axis-hardware.N.Yminsw-upper float in
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- sim-axis-hardware.N.Y2minsw-upper float in
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- sim-axis-hardware.N.Zminsw-upper float in
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- sim-axis-hardware.N.Aminsw-upper float in
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- sim-axis-hardware.N.Uminsw-upper float in
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- sim-axis-hardware.N.Vminsw-upper float in
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- sim-axis-hardware.N.Xminsw-lower float in
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The lower range of the minimum limit switch, below this is false.
- sim-axis-hardware.N.X2minsw-lower float in
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- sim-axis-hardware.N.Yminsw-lower float in
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- sim-axis-hardware.N.Y2minsw-lower float in
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- sim-axis-hardware.N.Zminsw-lower float in
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- sim-axis-hardware.N.Aminsw-lower float in
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- sim-axis-hardware.N.Uminsw-lower float in
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- sim-axis-hardware.N.Vminsw-lower float in
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- sim-axis-hardware.N.Xhomesw-hyst float in (default: .025)
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range that home switch will be true +- half this to the home position
- sim-axis-hardware.N.X2homesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Yhomesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Y2homesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Zhomesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Ahomesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Uhomesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Vhomesw-hyst float in (default: .025)
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- sim-axis-hardware.N.Xhoming bit in
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True is homing in progress
- sim-axis-hardware.N.X2homing bit in
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- sim-axis-hardware.N.Yhoming bit in
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- sim-axis-hardware.N.Y2homing bit in
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- sim-axis-hardware.N.Zhoming bit in
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- sim-axis-hardware.N.Ahoming bit in
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- sim-axis-hardware.N.Uhoming bit in
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- sim-axis-hardware.N.Vhoming bit in
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- sim-axis-hardware.N.Xhomesw-out bit out
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Home switch for the X axis
- sim-axis-hardware.N.X2homesw-out bit out
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- sim-axis-hardware.N.Yhomesw-out bit out
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- sim-axis-hardware.N.Y2homesw-out bit out
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- sim-axis-hardware.N.Zhomesw-out bit out
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- sim-axis-hardware.N.Ahomesw-out bit out
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- sim-axis-hardware.N.Uhomesw-out bit out
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- sim-axis-hardware.N.Vhomesw-out bit out
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- sim-axis-hardware.N.homesw-all bit out
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- sim-axis-hardware.N.Xmaxsw-out bit out
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Max limit switch
- sim-axis-hardware.N.Xminsw-out bit out
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min limit switch
- sim-axis-hardware.N.Xbothsw-out bit out
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True for both max and min limit switch
- sim-axis-hardware.N.X2maxsw-out bit out
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- sim-axis-hardware.N.X2minsw-out bit out
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- sim-axis-hardware.N.X2bothsw-out bit out
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- sim-axis-hardware.N.Ymaxsw-out bit out
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- sim-axis-hardware.N.Yminsw-out bit out
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- sim-axis-hardware.N.Ybothsw-out bit out
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- sim-axis-hardware.N.Y2maxsw-out bit out
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- sim-axis-hardware.N.Y2minsw-out bit out
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- sim-axis-hardware.N.Y2bothsw-out bit out
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- sim-axis-hardware.N.Zmaxsw-out bit out
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- sim-axis-hardware.N.Zminsw-out bit out
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- sim-axis-hardware.N.Zbothsw-out bit out
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- sim-axis-hardware.N.Amaxsw-out bit out
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- sim-axis-hardware.N.Aminsw-out bit out
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- sim-axis-hardware.N.Abothsw-out bit out
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- sim-axis-hardware.N.Umaxsw-out bit out
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- sim-axis-hardware.N.Uminsw-out bit out
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- sim-axis-hardware.N.Ubothsw-out bit out
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- sim-axis-hardware.N.Vmaxsw-out bit out
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- sim-axis-hardware.N.Vminsw-out bit out
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- sim-axis-hardware.N.Vbothsw-out bit out
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- sim-axis-hardware.N.limitsw-all bit out
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- sim-axis-hardware.N.limitsw-homesw-all bit out
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True for all limits and all home.
- sim-axis-hardware.N.Xmaxsw-homesw-out bit out
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- sim-axis-hardware.N.Xminsw-homesw-out bit out
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- sim-axis-hardware.N.Xbothsw-homesw-out bit out
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- sim-axis-hardware.N.X2maxsw-homesw-out bit out
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- sim-axis-hardware.N.X2minsw-homesw-out bit out
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- sim-axis-hardware.N.X2bothsw-homesw-out bit out
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- sim-axis-hardware.N.Ymaxsw-homesw-out bit out
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- sim-axis-hardware.N.Yminsw-homesw-out bit out
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- sim-axis-hardware.N.Ybothsw-homesw-out bit out
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- sim-axis-hardware.N.Y2maxsw-homesw-out bit out
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- sim-axis-hardware.N.Y2minsw-homesw-out bit out
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- sim-axis-hardware.N.Y2bothsw-homesw-out bit out
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- sim-axis-hardware.N.Zmaxsw-homesw-out bit out
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- sim-axis-hardware.N.Zminsw-homesw-out bit out
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- sim-axis-hardware.N.Zbothsw-homesw-out bit out
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- sim-axis-hardware.N.Amaxsw-homesw-out bit out
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- sim-axis-hardware.N.Aminsw-homesw-out bit out
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- sim-axis-hardware.N.Abothsw-homesw-out bit out
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- sim-axis-hardware.N.Umaxsw-homesw-out bit out
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- sim-axis-hardware.N.Uminsw-homesw-out bit out
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- sim-axis-hardware.N.Ubothsw-homesw-out bit out
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- sim-axis-hardware.N.Vmaxsw-homesw-out bit out
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- sim-axis-hardware.N.Vminsw-homesw-out bit out
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- sim-axis-hardware.N.Vbothsw-homesw-out bit out
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- sim-axis-hardware.N.limit-offset float in (default: .01)
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how much the limit switches are offset from inputted position. added to max, subtracted from min
AUTHOR
Chris S Morley
LICENSE
GPL