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LIMIT3(9) HAL Component LIMIT3(9)

NAME

limit3 - Follow input signal while obeying limits

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.

FUNCTIONS

PINS


1: out follows in, 0: out returns to 0 (always per constraints)

When TRUE, immediately set out to in, ignoring maxv and maxa




Smooth out acceleration this many periods before reaching input or max/min limit. Higher values avoid oscillation, but will accelerate slightly more slowly.

AUTHOR

John Kasunich

LICENSE

GPL

2023-02-10 LinuxCNC Documentation