Machinekit Documentation

HAL Component — INTEG

INSTANTIABLE COMPONENTS — General

All instantiable components can be loaded in two manners

Using loadrt with or without count= | names= parameters as per legacy components
Using newinst, which names the instance and allows further parameters and arguments
primarily pincount= which can set the number of pins created for that instance (where applicable)

NAME

integ — Integrator with gain pin and windup limits

SYNOPSIS

integ

USAGE SYNOPSIS

loadrt integ
OR
newinst integ <newinstname> [ pincount=N | iprefix=prefix ] [instanceparamX=X | argX=X ]

( args in [ ] denote possible args and parameters, may not be used in all components )

FUNCTIONS

integ.N.funct ( OR <newinstname>.funct (requires a floating-point thread) )

PINS

integ.N.in float in ( OR <newinstname>.in float in )

integ.N.gain float in (default: 1.0) ( OR <newinstname>.gain float in (default: 1.0) )

integ.N.out float out ( OR <newinstname>.out float out ) - The discrete integral of 'gain * in' since 'reset' was deasserted

integ.N.reset bit in ( OR <newinstname>.reset bit in ) - When asserted, set out to 0

integ.N.max float in (default: 1e20) ( OR <newinstname>.max float in (default: 1e20) )

integ.N.min float in (default: -1e20) ( OR <newinstname>.min float in (default: -1e20) )

LICENCE

GPL