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

       limit3.N (requires a floating-point thread)

PINS

       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.

AUTHOR

       John Kasunich

LICENSE

       GPL