1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
|
loadrt anglejog names=anglejog
addf anglejog servo-thread
#--------------------------------------------------------------
# Connections TO anglejog component
net :ajog_enable <= pyvcp.enable
net :ajog_enable => anglejog.enable-in
net :ajog_enable => pyvcp.enabled
net :ajog_counts <= pyvcp.mpg-i
net :ajog_counts => anglejog.counts-in
net :ajog_accel-fraction-in <= pyvcp.accel-fraction
net :ajog_accel-fraction-in => anglejog.accel-fraction-in
net :ajog-angle-degrees <= pyvcp.angle-degrees
net :ajog-angle-degrees => anglejog.angle-degrees-in
net :ajog-scale-in <= pyvcp.scale-in
net :ajog-scale-in => anglejog.scale-in
net :ajog_max-vel <= pyvcp.max-vel
net :ajog_max-vel => anglejog.max-vel
net :ajog_max-accel <= pyvcp.max-accel
net :ajog_max-accel => anglejog.max-accel
#--------------------------------------------------------------
# Connections FROM anglejog component
net :ajog_enable-out <= anglejog.enable-out
net :ajog_enable-out => axis.x.jog-enable
net :ajog_enable-out => axis.z.jog-enable
net :ajog_enable-out => joint.0.jog-enable
net :ajog_enable-out => joint.1.jog-enable
net :ajog_scale-out <= anglejog.current-scale-out
net :ajog_scale-out => axis.x.jog-scale
net :ajog_scale-out => axis.z.jog-scale
net :ajog_scale-out => joint.0.jog-scale
net :ajog_scale-out => joint.1.jog-scale
net :ajog_scale-out => pyvcp.current-scale-out
net :ajog_x <= anglejog.coscounts
net :ajog_x => axis.x.jog-counts
net :ajog_x => joint.0.jog-counts
net :ajog_z <= anglejog.sincounts
net :ajog_z => axis.z.jog-counts
net :ajog_z => joint.1.jog-counts
net :ajog_xfraction <= anglejog.cos-accel-fraction
net :ajog_xfraction => axis.x.jog-accel-fraction
net :ajog_xfraction => joint.0.jog-accel-fraction
net :ajog_zfraction <= anglejog.sin-accel-fraction
net :ajog_zfraction => axis.z.jog-accel-fraction
net :ajog_zfraction => joint.1.jog-accel-fraction
#--------------------------------------------------------------
# panel info-only items from anglejog component:
net :vcp_active <= anglejog.active
net :vcp_active => pyvcp.active
net :vcp-current-scale <= anglejog.current-scale
net :vcp-current-scale => pyvcp.current-scale
net :vcp_current-angle-degrees <= anglejog.current-angle-degrees
net :vcp_current-angle-degrees => pyvcp.current-angle-degrees
#--------------------------------------------------------------
# MPG simulation items
loadrt mux_generic config=ff2
addf mux-gen.00 servo-thread
# for reset, set >0 and < Scale widget resolution:
setp mux-gen.00.in-float-00 .1
net :vcp_scale-val <= mux-gen.00.out-float
net :vcp_scale-val => pyvcp.scale.0.param_pin
net :vcp_scale-reset <= pyvcp.mpgreset
net :vcp_scale-reset => mux-gen.00.sel-bit-00
#--------------------------------------------------------------
# halshow
loadusr halshow --noprefs --fformat %8.5f ./anglejog.halshow
|
