limit3 - Follow input signal while obeying limits
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.
-
limit3.N (requires a floating-point
thread)
-
- limit3.N.in float in
-
- limit3.N.enable bit in (default:
1)
- 1: out follows in, 0: out returns to 0 (always per
constraints)
- limit3.N.out float out
-
- limit3.N.load bit in (default:
0)
- When TRUE, immediately set out to in,
ignoring maxv and maxa
- limit3.N.min float in (default:
-1e20)
-
- limit3.N.max float in (default:
1e20)
-
- limit3.N.maxv float in (default:
1e20)
-
- limit3.N.maxa float in (default:
1e20)
-
- limit3.N.smooth-steps u32 in (default:
2)
- Smooth out acceleration this many periods before reaching
input or max/min limit. Higher values avoid oscillation, but will
accelerate slightly more slowly.
John Kasunich
GPL