NAME

       sim_axis_hardware - A component to simulate home and limit switches

SYNOPSIS

       loadrt sim_axis_hardware [count=N|names=name1[,name2...]]

DESCRIPTION

       This component creates simulated home and limit switches based on the current position.
       It currently can supply simulation for X, tandem X, Y, tandem Y, Z, U, V, and A axes.

FUNCTIONS

       sim-axis-hardware.N.update (requires a floating-point thread)

PINS

       sim-axis-hardware.N.Xcurrent-pos float in
              The current position on the axis - eg connect to joint.0.motor-pos-fb

       sim-axis-hardware.N.X2current-pos float in
       sim-axis-hardware.N.Ycurrent-pos float in
       sim-axis-hardware.N.Y2current-pos float in
       sim-axis-hardware.N.Zcurrent-pos float in
       sim-axis-hardware.N.Acurrent-pos float in
       sim-axis-hardware.N.Ucurrent-pos float in
       sim-axis-hardware.N.Vcurrent-pos float in
       sim-axis-hardware.N.Xhomesw-pos float in (default: 1)
              The position of the home switch

       sim-axis-hardware.N.X2homesw-pos float in (default: 1)
       sim-axis-hardware.N.Yhomesw-pos float in (default: 1)
       sim-axis-hardware.N.Y2homesw-pos float in (default: 1)
       sim-axis-hardware.N.Zhomesw-pos float in (default: 1)
       sim-axis-hardware.N.Ahomesw-pos float in (default: 1)
       sim-axis-hardware.N.Uhomesw-pos float in (default: 1)
       sim-axis-hardware.N.Vhomesw-pos float in (default: 1)
       sim-axis-hardware.N.Xmaxsw-upper float in
              The upper range of the maximum limit switch, above this is false.

       sim-axis-hardware.N.X2maxsw-upper float in
       sim-axis-hardware.N.Ymaxsw-upper float in
       sim-axis-hardware.N.Y2maxsw-upper float in
       sim-axis-hardware.N.Zmaxsw-upper float in
       sim-axis-hardware.N.Amaxsw-upper float in
       sim-axis-hardware.N.Umaxsw-upper float in
       sim-axis-hardware.N.Vmaxsw-upper float in
       sim-axis-hardware.N.Xmaxsw-lower float in
              The lower range of the maximum limit switch, below this is false.

       sim-axis-hardware.N.X2maxsw-lower float in
       sim-axis-hardware.N.Ymaxsw-lower float in
       sim-axis-hardware.N.Y2maxsw-lower float in
       sim-axis-hardware.N.Zmaxsw-lower float in
       sim-axis-hardware.N.Amaxsw-lower float in
       sim-axis-hardware.N.Umaxsw-lower float in
       sim-axis-hardware.N.Vmaxsw-lower float in
       sim-axis-hardware.N.Xminsw-upper float in
              The upper range of the minimum limit switch, above this is false.

       sim-axis-hardware.N.X2minsw-upper float in
       sim-axis-hardware.N.Yminsw-upper float in
       sim-axis-hardware.N.Y2minsw-upper float in
       sim-axis-hardware.N.Zminsw-upper float in
       sim-axis-hardware.N.Aminsw-upper float in
       sim-axis-hardware.N.Uminsw-upper float in
       sim-axis-hardware.N.Vminsw-upper float in
       sim-axis-hardware.N.Xminsw-lower float in
              The lower range of the minimum limit switch, below this is false.

       sim-axis-hardware.N.X2minsw-lower float in
       sim-axis-hardware.N.Yminsw-lower float in
       sim-axis-hardware.N.Y2minsw-lower float in
       sim-axis-hardware.N.Zminsw-lower float in
       sim-axis-hardware.N.Aminsw-lower float in
       sim-axis-hardware.N.Uminsw-lower float in
       sim-axis-hardware.N.Vminsw-lower float in
       sim-axis-hardware.N.Xhomesw-hyst float in (default: .025)
              range that home switch will be true +- half this to the home position

       sim-axis-hardware.N.X2homesw-hyst float in (default: .025)
       sim-axis-hardware.N.Yhomesw-hyst float in (default: .025)
       sim-axis-hardware.N.Y2homesw-hyst float in (default: .025)
       sim-axis-hardware.N.Zhomesw-hyst float in (default: .025)
       sim-axis-hardware.N.Ahomesw-hyst float in (default: .025)
       sim-axis-hardware.N.Uhomesw-hyst float in (default: .025)
       sim-axis-hardware.N.Vhomesw-hyst float in (default: .025)
       sim-axis-hardware.N.Xhoming bit in
              True is homing in progress

       sim-axis-hardware.N.X2homing bit in
       sim-axis-hardware.N.Yhoming bit in
       sim-axis-hardware.N.Y2homing bit in
       sim-axis-hardware.N.Zhoming bit in
       sim-axis-hardware.N.Ahoming bit in
       sim-axis-hardware.N.Uhoming bit in
       sim-axis-hardware.N.Vhoming bit in
       sim-axis-hardware.N.Xhomesw-out bit out
              Home switch for the X axis

       sim-axis-hardware.N.X2homesw-out bit out
       sim-axis-hardware.N.Yhomesw-out bit out
       sim-axis-hardware.N.Y2homesw-out bit out
       sim-axis-hardware.N.Zhomesw-out bit out
       sim-axis-hardware.N.Ahomesw-out bit out
       sim-axis-hardware.N.Uhomesw-out bit out
       sim-axis-hardware.N.Vhomesw-out bit out
       sim-axis-hardware.N.homesw-all bit out
       sim-axis-hardware.N.Xmaxsw-out bit out
              Max limit switch

       sim-axis-hardware.N.Xminsw-out bit out
              min limit switch

       sim-axis-hardware.N.Xbothsw-out bit out
              True for both max and min limit switch

       sim-axis-hardware.N.X2maxsw-out bit out
       sim-axis-hardware.N.X2minsw-out bit out
       sim-axis-hardware.N.X2bothsw-out bit out
       sim-axis-hardware.N.Ymaxsw-out bit out
       sim-axis-hardware.N.Yminsw-out bit out
       sim-axis-hardware.N.Ybothsw-out bit out
       sim-axis-hardware.N.Y2maxsw-out bit out
       sim-axis-hardware.N.Y2minsw-out bit out
       sim-axis-hardware.N.Y2bothsw-out bit out
       sim-axis-hardware.N.Zmaxsw-out bit out
       sim-axis-hardware.N.Zminsw-out bit out
       sim-axis-hardware.N.Zbothsw-out bit out
       sim-axis-hardware.N.Amaxsw-out bit out
       sim-axis-hardware.N.Aminsw-out bit out
       sim-axis-hardware.N.Abothsw-out bit out
       sim-axis-hardware.N.Umaxsw-out bit out
       sim-axis-hardware.N.Uminsw-out bit out
       sim-axis-hardware.N.Ubothsw-out bit out
       sim-axis-hardware.N.Vmaxsw-out bit out
       sim-axis-hardware.N.Vminsw-out bit out
       sim-axis-hardware.N.Vbothsw-out bit out
       sim-axis-hardware.N.limitsw-all bit out
       sim-axis-hardware.N.limitsw-homesw-all bit out
              True for all limits and all home.

       sim-axis-hardware.N.Xmaxsw-homesw-out bit out
       sim-axis-hardware.N.Xminsw-homesw-out bit out
       sim-axis-hardware.N.Xbothsw-homesw-out bit out
       sim-axis-hardware.N.X2maxsw-homesw-out bit out
       sim-axis-hardware.N.X2minsw-homesw-out bit out
       sim-axis-hardware.N.X2bothsw-homesw-out bit out
       sim-axis-hardware.N.Ymaxsw-homesw-out bit out
       sim-axis-hardware.N.Yminsw-homesw-out bit out
       sim-axis-hardware.N.Ybothsw-homesw-out bit out
       sim-axis-hardware.N.Y2maxsw-homesw-out bit out
       sim-axis-hardware.N.Y2minsw-homesw-out bit out
       sim-axis-hardware.N.Y2bothsw-homesw-out bit out
       sim-axis-hardware.N.Zmaxsw-homesw-out bit out
       sim-axis-hardware.N.Zminsw-homesw-out bit out
       sim-axis-hardware.N.Zbothsw-homesw-out bit out
       sim-axis-hardware.N.Amaxsw-homesw-out bit out
       sim-axis-hardware.N.Aminsw-homesw-out bit out
       sim-axis-hardware.N.Abothsw-homesw-out bit out
       sim-axis-hardware.N.Umaxsw-homesw-out bit out
       sim-axis-hardware.N.Uminsw-homesw-out bit out
       sim-axis-hardware.N.Ubothsw-homesw-out bit out
       sim-axis-hardware.N.Vmaxsw-homesw-out bit out
       sim-axis-hardware.N.Vminsw-homesw-out bit out
       sim-axis-hardware.N.Vbothsw-homesw-out bit out
       sim-axis-hardware.N.limit-offset float in (default: .01)
              how  much  the  limit  switches  are  offset  from inputted position. added to max,
              subtracted from min

AUTHOR

       Chris Morley

LICENSE

       GPL