NAME

       sim_home_switch - Home switch simulator

SYNOPSIS

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

DESCRIPTION

       After  tripping  home  switch, travel in opposite direction is required (amount set by the
       hysteresis pin).  A pin (index-enable) is provided for use when [JOINT_n]HOME_USE_INDEX is
       specified to reset the I/O pin joint.N.index-enable.

FUNCTIONS

       sim-home-switch.N (requires a floating-point thread)

PINS

       sim-home-switch.N.cur-pos float in
              Current position (typically: joint.n.motor-pos-fb)

       sim-home-switch.N.home-pos float in (default: 1)
              Home switch position

       sim-home-switch.N.hysteresis float in (default: 0.1)
              Travel required to backoff (hysteresis)

       sim-home-switch.N.home-sw bit out
              Home switch activated

       sim-home-switch.N.index-enable bit io
              typ: connect to joint.N.index-enable

       sim-home-switch.N.index-delay-ms float in (default: 10)
              delay in msec to reset index-enable

LICENSE

       GPL