54 lines
1.2 KiB
Plaintext
54 lines
1.2 KiB
Plaintext
loadrt or2 names=or2_0
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loadrt comp names=comp_x,comp_y,comp_z,comp_a,comp_c
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net Xhomeswpos => comp_x.in0
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net Yhomeswpos => comp_y.in0
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net Zhomeswpos => comp_z.in0
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#net Ahomeswpos => comp_a.in0
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#net Bhomeswpos => comp_b.in0
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#net Chomeswpos => comp_c.in0
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sets Xhomeswpos -1
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sets Yhomeswpos -1
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sets Zhomeswpos 1
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#sets Ahomeswpos 2
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#sets Bhomeswpos 2
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#sets Chomeswpos 2
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net Xpos => comp_x.in1
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net Ypos => comp_y.in1
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net Zpos => comp_z.in1
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#net Apos => comp_a.in1
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#net Bpos => comp_b.in1
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#net Cpos => comp_c.in1
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setp comp_x.hyst .02
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setp comp_y.hyst .02
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setp comp_z.hyst .02
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#setp comp_a.hyst .02
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#setp comp_b.hyst .02
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#setp comp_c.hyst .02
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net Xhomesw <= comp_x.out => joint.0.home-sw-in
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net Yhomesw <= comp_y.out => joint.1.home-sw-in
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net Zhomesw <= comp_z.out => joint.2.home-sw-in
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#net Ahomesw <= comp_a.out => joint.3.home-sw-in
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#net Bhomesw <= comp_b.out => joint.4.home-sw-in
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#net Chomesw <= comp_c.out => joint.4.home-sw-in
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# net Xhomesw => or2_0.in0
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# net Zhomesw => or2_0.in1
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# net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
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addf comp_x servo-thread
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addf comp_y servo-thread
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addf comp_z servo-thread
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#addf comp_a servo-thread
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#addf comp_b servo-thread
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#addf comp_c servo-thread
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addf or2_0 servo-thread
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