Machinekit Documentation

HAL Component — LIMIT2

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

limit2 — Limit the output signal to fall between min and max and limit its slew rate to less than maxv per second. When the signal is a position, this means that position and velocity are limited.

SYNOPSIS

limit2

USAGE SYNOPSIS

loadrt limit2
OR
newinst limit2 <newinstname> [ pincount=N | iprefix=prefix ] [instanceparamX=X | argX=X ]

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

FUNCTIONS

limit2.N.funct ( OR <newinstname>.funct (requires a floating-point thread) )

PINS

limit2.N.in float in ( OR <newinstname>.in float in )

limit2.N.out float out ( OR <newinstname>.out float out )

limit2.N.load bit in ( OR <newinstname>.load bit in ) - When TRUE, immediately set \fBout\fB to \fBin\fR, ignoring maxv

limit2.N.min float io (default: -1e20) ( OR <newinstname>.min float io (default: -1e20) )

limit2.N.max float io (default: 1e20) ( OR <newinstname>.max float io (default: 1e20) )

limit2.N.maxv float io (default: 1e20) ( OR <newinstname>.maxv float io (default: 1e20) )

LICENCE

GPL