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.TH LIMIT3 "9" "2023-02-10" "LinuxCNC Documentation" "HAL Component"
.SH NAME

limit3 \- Follow input signal while obeying limits
.SH SYNOPSIS
Limit the output signal to fall between min and max, limit its slew
rate to less than maxv per second, and limit its second derivative to
less than maxa per second squared.  When the signal is a position,
this means that the position, velocity, and acceleration are limited.
.SH FUNCTIONS
.TP
\fBlimit3.\fIN\fB\fR (requires a floating-point thread)

.SH PINS
.TP
.B limit3.\fIN\fB.in\fR float in \fR
.br
.ns
.TP
.B limit3.\fIN\fB.enable\fR bit in \fR(default: \fI1\fR)
1: out follows in, 0: out returns to 0 (always per constraints)
.TP
.B limit3.\fIN\fB.out\fR float out \fR
.br
.ns
.TP
.B limit3.\fIN\fB.load\fR bit in \fR(default: \fI0\fR)
When TRUE, immediately set \fBout\fB to \fBin\fR, ignoring maxv
and maxa
.TP
.B limit3.\fIN\fB.min\fR float in \fR(default: \fI-1e20\fR)
.br
.ns
.TP
.B limit3.\fIN\fB.max\fR float in \fR(default: \fI1e20\fR)
.br
.ns
.TP
.B limit3.\fIN\fB.maxv\fR float in \fR(default: \fI1e20\fR)
.br
.ns
.TP
.B limit3.\fIN\fB.maxa\fR float in \fR(default: \fI1e20\fR)
.br
.ns
.TP
.B limit3.\fIN\fB.smooth-steps\fR u32 in \fR(default: \fI2\fR)
Smooth out acceleration this many periods before reaching input or
max/min limit.  Higher values avoid oscillation, but will accelerate
slightly more slowly.
.SH AUTHOR

John Kasunich
.SH LICENSE

GPL