26 lines
508 B
Plaintext
26 lines
508 B
Plaintext
loadrt or2 names=or2_0
|
|
loadrt comp names=comp_x,comp_z
|
|
|
|
net Xhomeswpos => comp_x.in0
|
|
net Zhomeswpos => comp_z.in0
|
|
|
|
sets Xhomeswpos 1
|
|
sets Zhomeswpos 2
|
|
|
|
net Xpos => comp_x.in1
|
|
net Zpos => comp_z.in1
|
|
|
|
setp comp_x.hyst .02
|
|
setp comp_z.hyst .02
|
|
|
|
net Xhomesw <= comp_x.out => joint.0.home-sw-in
|
|
net Zhomesw <= comp_z.out => joint.1.home-sw-in
|
|
|
|
# net Xhomesw => or2_0.in0
|
|
# net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
|
|
|
|
addf comp_x servo-thread
|
|
addf comp_z servo-thread
|
|
|
|
addf or2_0 servo-thread
|