dt_ctrl.ctrl

#	dt_ctrl.ctrl
#
#	Controller network for Dwingeloo Telescope.
#
#	This file contains the fixed part of the network and its parameters.
#	Other .ctrl files are used for those parts which are conditional,
#	such as the use of simulation networks or real servo drives.
#

# Frequency is limited by the stoeber drives.
set frequency 250
set delay 0.0

trigger {
	{ "prestart", 0.000150 }
}

# dt_ctrl_el.ctrl	Elevation with real servo drives
# dt_ctrl_el_sim.ctrl	Elevation with simulated network
# dt_ctrl_az.ctrl	Azimuth with real servo drives
# dt_ctrl_az_sim.ctrl	Azimuth with simulated network
# dt_ctrl_ec_sim.ctrl   Ethercat simulation block
#
# Uncomment either the real network, or the sim network.
# But never both!

#import "dt_ctrl_el.ctrl"
import "dt_ctrl_el_sim.ctrl"

#import "dt_ctrl_az.ctrl"
import "dt_ctrl_az_sim.ctrl"

import "dt_ctrl_ec_sim.ctrl"

blocks ($(frequency), $(delay)) {
	{ "setpoint_generator_3d", "azimuth_spg", 	"Azimuth_Setpoint", "rad" }
	{ "servo_state",           "azimuth_servo_state"           }
	{ "and2",                  "azimuth_safe_and"              }
	{ "subtract",	           "azimuth_setpoint_error"	   }
	{ "subtract",              "azimuth_error"		   }
	{ "pid_aw",	           "azimuth_pid"		   }
	{ "filter_iir",	           "azimuth_pid_filter"		   }
	{ "limit_var",	           "azimuth_pid_limit"		   }
	{ "add",  	           "azimuth_speed_ff" 		   }
	{ "limit",	           "azimuth_speed_limit"	   }
	{ "dt_az_safety",          "azimuth_safety"		   }
	{ "gain", 	           "azimuth_speed_servo"	   }
	{ "value",	           "azimuth_torque"		   }
	{ "value",	           "azimuth_position_offset"  	   }
	{ "add",  	           "azimuth_position_offset_sum"   }
	{ "gain", 	           "azimuth_position_gain"	   }
	{ "rangecheck",		   "azimuth_speed_warning"         }

	{ "log",                   "azimuth_safety_hw_pos" }
	{ "log",                   "azimuth_safety_hw_neg" }
	
	{ "matrix_2x2",	           "elevation_input_matrix"	      }
	{ "setpoint_generator_3d", "elevation_spg", 		"Elevation_Setpoint", "rad" }
	{ "servo_state",           "elevation_servo_state"            }
 	{ "and2",                  "elevation_safe_and"               }
	{ "setpoint_generator_1d", "elevation_torsion_spg",	"Elevation_Torsion_Setpoint", "rad" }
	{ "subtract",	           "elevation_setpoint_error" 	      }
	{ "subtract",  	           "elevation_error"  		      }
	{ "subtract",	           "elevation_torsion_error"  	      }
	{ "subtract",	           "elevation_torsion_setpoint_error" }
	{ "subtract",	           "elevation_torsion_torque" 	      }
	{ "filter_lp",	           "elevation_torsion_torque_lp"      }
	{ "pid_aw",	           "elevation_pid"	      	      }
	{ "pid_aw",  	           "elevation_torsion_pid"	      }
	{ "add",  	           "elevation_speed_ff"		      }
	{ "switch",                "elevation_position_switch"        }
	{ "limit",	           "elevation_torsion_speed_limit"    }
	{ "limit",	           "elevation_speed_limit"	      }
	{ "limit_2nd",	           "elevation_jerk_limit"	      }
	{ "dt_el_safety",          "elevation_safety" 		      }
	{ "matrix_2x2",	           "elevation_output_matrix"  	      }
	{ "value",	           "elevation_torque_r"		      }
	{ "value",	           "elevation_torque_l"		      }
	{ "value",	           "elevation_position_offset_r"      }
	{ "value",	           "elevation_position_offset_l"      }
	{ "add",  	           "elevation_position_offset_r_sum"  }
	{ "add",  	           "elevation_position_offset_l_sum"  }

	{ "command_bool",          "focusbox_plus" }
	{ "command_bool",          "focusbox_min"  }

	{ "value_bool", 	   "false"	}
}

alias {
	{ "Azimuth_Position",          "azimuth_position_offset_sum", "out"  }
	{ "Azimuth_Drive_Safety_p270", "dt_az", "be4" }
	{ "Azimuth_Drive_Safety_m270", "dt_az", "be2" }
	{ "Elevation_Position",        "elevation_input_matrix", "out0" }
	{ "Elevation_Top_Safe",        "dt_el_l", "be4" }
	{ "Elevation_Bottom_Safe",     "dt_el_l", "be2" }
}

links {
	{ "dt_az",                          "position",   "azimuth_position_gain",            "in"           , true }
	{ "azimuth_position_gain",          "out",        "azimuth_position_offset_sum",      "in0"          , true }
	{ "azimuth_position_offset",        "value",      "azimuth_position_offset_sum",      "in1"          , true }
	{ $<Azimuth_Position>,                            "azimuth_error",                    "negative"     , true }
	{ "azimuth_servo_state",            "reset",      "azimuth_spg",                      "reset"        , false }
	{ $<Azimuth_Position>,                            "azimuth_spg",                      "reset_x"      , true }
	{ "azimuth_spg",                    "x",          "azimuth_servo_state",              "spg_x"        , true }
	{ "azimuth_spg",                    "v",          "azimuth_servo_state",              "spg_v"        , true }
	{ "azimuth_spg",                    "a",          "azimuth_servo_state",              "spg_a"        , true }
	{ "azimuth_safety",                 "safe_out",   "azimuth_safe_and",                 "a"            , false }
	{ "ethercat",                       "operational","azimuth_safe_and",                 "b"            , true }
	{ "azimuth_safe_and",               "q",          "azimuth_servo_state",              "safe"         , true }
	{ "azimuth_safety",                 "recover",    "azimuth_servo_state",              "override"     , false }
	{ "azimuth_servo_state",            "out_x",      "azimuth_error",                    "positive"     , true }
	{ $<Azimuth_Position>,                            "azimuth_setpoint_error",           "negative"     , true }
	{ "azimuth_spg",                    "setpoint",   "azimuth_setpoint_error",           "positive"     , true }
	{ "azimuth_servo_state",            "out_v",      "azimuth_speed_ff",                 "in0"          , true }
	{ "azimuth_error",                  "difference", "azimuth_pid",                      "in"           , true }
	{ "azimuth_servo_state",            "enable",     "azimuth_pid",                      "enable"       , true }
	{ "azimuth_pid",                    "out",        "azimuth_pid_limit",                "in"           , true }
	{ "azimuth_servo_state",            "out_v",      "azimuth_pid_limit",                "limit"        , true }
	{ "azimuth_pid_limit",              "out",        "azimuth_pid_filter",               "in"           , true }
	{ "azimuth_pid_filter",             "out",        "azimuth_speed_ff",                 "in1"          , true }
	{ "azimuth_speed_ff",               "out",        "azimuth_speed_limit",              "in"           , true }
	{ "azimuth_speed_limit",            "out",        "azimuth_safety",                   "speed_in"     , true }
	{ $<Azimuth_Position>,                            "azimuth_safety",                   "position_in"  , true }
	{ "azimuth_torque",                 "value",      "azimuth_safety",                   "torque_in"    , true }
	{ $<Azimuth_Drive_Safety_p270>,                   "azimuth_safety",                   "safety_in_positive", true }
	{ $<Azimuth_Drive_Safety_m270>,                   "azimuth_safety",                   "safety_in_negative", true }
	{ "azimuth_servo_state",            "enable",     "azimuth_safety",                   "enable"       , true }
        { "azimuth_safety",                 "speed_out",  "azimuth_speed_servo",              "in"           , true }
	{ "azimuth_speed_servo",            "out",        "dt_az",                            "speed"        , true }
	{ "azimuth_safety",                 "torque_out", "dt_az",                            "torque"       , true }
	{ "azimuth_servo_state",            "enable",     "dt_az",                            "enable"       , true }
	{ "dt_az",                          "speed",      "azimuth_speed_warning",            "in"           , true }
	{ "azimuth_speed_warning",          "invalid",    "dt_az",                            "ba1"          , true }
	{ "false",			    "value",      "dt_az",                            "ba2"          , true }

	{ $<Azimuth_Drive_Safety_p270>,                   "azimuth_safety_hw_pos", "condition",                true }
	{ $<Azimuth_Drive_Safety_m270>,                   "azimuth_safety_hw_neg", "condition",                true }

	{ "elevation_servo_state",          "reset",      "elevation_spg",                    "reset"        , false }
	{ $<Elevation_Position>,                          "elevation_spg",                    "reset_x"      , true }
	{ "elevation_spg",                  "x",          "elevation_servo_state",            "spg_x"        , true }
	{ "elevation_spg",                  "v",          "elevation_servo_state",            "spg_v"        , true }
	{ "elevation_spg",                  "a",          "elevation_servo_state",            "spg_a"        , true }
	{ "elevation_safety",               "safe_out",   "elevation_safe_and",               "a"            , false }
	{ "ethercat",                       "operational","elevation_safe_and",               "b"            , true }
	{ "elevation_safe_and",             "q",          "elevation_servo_state",            "safe"         , true }
	{ "elevation_safety",               "recover",    "elevation_servo_state",            "override"     , false }
	{ "elevation_servo_state",          "out_x",      "elevation_error",                  "positive"     , true }
	{ "elevation_servo_state",          "out_v",      "elevation_speed_ff",               "in0"          , true }
	{ "dt_el_r",                        "position",   "elevation_position_offset_r_sum",  "in0"          , true }
	{ "dt_el_l",                        "position",   "elevation_position_offset_l_sum",  "in0"          , true }
	{ "elevation_position_offset_r",    "value",      "elevation_position_offset_r_sum",  "in1"          , true }
	{ "elevation_position_offset_l",    "value",      "elevation_position_offset_l_sum",  "in1"          , true }
	{ "elevation_position_offset_r_sum","out",        "elevation_input_matrix",           "in0"          , true }
	{ "elevation_position_offset_l_sum","out",        "elevation_input_matrix",           "in1"          , true }
	{ $<Elevation_Position>,                          "elevation_error",                  "negative"     , true }
	{ "elevation_spg",                  "setpoint",   "elevation_setpoint_error",         "positive"     , true }
	{ $<Elevation_Position>,                          "elevation_setpoint_error",         "negative"     , true }
	{ "elevation_error",                "difference", "elevation_pid",                    "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_pid",                    "enable"       , true }
	{ "elevation_pid",                  "out",        "elevation_speed_ff",               "in1"          , true }
	{ "elevation_speed_ff",             "out",        "elevation_position_switch",        "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_position_switch",        "on"           , true }
	{ "elevation_position_switch",      "out",        "elevation_speed_limit",            "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_jerk_limit",             "enable"       , true }
	{ "elevation_speed_limit",          "out",        "elevation_jerk_limit",             "in"           , true }
	{ "elevation_jerk_limit",           "out",        "elevation_output_matrix",          "in0"          , true }
	{ "dt_el_r",                        "torque",     "elevation_torsion_torque",         "positive"     , true }
	{ "dt_el_l",                        "torque",     "elevation_torsion_torque",         "negative"     , true }
	{ "elevation_torsion_torque",       "difference", "elevation_torsion_torque_lp",      "in"           , true }
	{ "elevation_position_offset_r_sum","out",        "elevation_safety",                 "position_in_r" , true }
	{ "elevation_position_offset_l_sum","out",        "elevation_safety",                 "position_in_l" , true }
	{ "elevation_input_matrix",         "out1",       "elevation_safety",                 "torsion_in"   , true }
	{ "elevation_output_matrix",        "out0",       "elevation_safety",                 "speed_in_r"    , true }
	{ "elevation_output_matrix",        "out1",       "elevation_safety",                 "speed_in_l"    , true }
	{ "elevation_torsion_torque_lp",    "out",        "elevation_safety",                 "torque_in"    , true }
	{ "elevation_torque_r",             "value",      "elevation_safety",                 "torque_in_r"   , true }
	{ "elevation_torque_l",             "value",      "elevation_safety",                 "torque_in_l"   , true }
	{ $<Elevation_Top_Safe>,                          "elevation_safety",                 "safety_in_top",    true }
	{ $<Elevation_Bottom_Safe>,                       "elevation_safety",                 "safety_in_bottom", true }
	{ "elevation_servo_state",          "enable",     "elevation_safety",                 "enable"       , true }
	{ "elevation_safety",               "speed_out_r", "dt_el_r",                         "speed"        , true } 
	{ "elevation_safety",               "speed_out_l", "dt_el_l",                         "speed"        , true }
	{ "elevation_safety",               "torque_out_r","dt_el_r",                         "torque"       , true }
	{ "elevation_safety",               "torque_out_l","dt_el_l",                         "torque"       , true }
	{ "elevation_servo_state",          "enable",     "dt_el_r",                          "enable"       , true }
	{ "elevation_servo_state",          "enable",     "dt_el_l",                          "enable"       , true }
	{ "focusbox_plus",                  "value",      "dt_el_r",                          "ba1"          , true }
	{ "focusbox_min",		    "value",      "dt_el_r",                          "ba2"          , true }
	{ "false",                          "value",      "dt_el_l",                          "ba1"          , true }
	{ "false",			    "value",      "dt_el_l",                          "ba2"          , true }
	
	{ "elevation_servo_state",          "reset",      "elevation_torsion_spg",            "reset"        , false }
	{ "elevation_input_matrix",         "out1",       "elevation_torsion_spg",            "reset_x"      , true }
	{ "elevation_torsion_spg",          "x",          "elevation_torsion_error",          "positive"     , true }
	{ "elevation_input_matrix",         "out1",       "elevation_torsion_error",          "negative"     , true }
	{ "elevation_torsion_spg",          "setpoint",   "elevation_torsion_setpoint_error", "positive"     , true }
	{ "elevation_input_matrix",         "out1",       "elevation_torsion_setpoint_error", "negative"     , true }
	{ "elevation_torsion_error",        "difference", "elevation_torsion_pid",            "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_torsion_pid",            "enable"       , true }
	{ "elevation_torsion_pid",          "out",        "elevation_torsion_speed_limit",    "in"           , true }
	{ "elevation_torsion_speed_limit",  "out",        "elevation_output_matrix",          "in1"          , true }
}

traces {
	{ "Azimuth_Spg0",                     "rad",       "azimuth_spg",                      "x"          }
	{ "Azimuth_Spg1",                     "rad/s",     "azimuth_spg",                      "v"          }
	{ "Azimuth_Spg2",                     "rad/s/s",   "azimuth_spg",                      "a"          }
	{ "Azimuth_Spg3",                     "rad/s/s/s", "azimuth_spg",                      "j"          }
	{ "Azimuth_Setpoint",                 "rad",       "azimuth_spg",                      "setpoint"   }
	{ "Azimuth_Error",                    "rad",       "azimuth_error",                    "difference" }
	{ "Azimuth_Setpoint_Error",           "rad",       "azimuth_setpoint_error",           "difference" }
	{ "Azimuth_PID",                      "rad/s",     "azimuth_pid",                      "out"        }
	{ "Azimuth_I",                        "rad/s",     "azimuth_pid",                      "outi"       }
	{ "Azimuth_PID_filtered",             "rad/s",     "azimuth_pid_filter",               "out"        }
	{ "Azimuth_Position",                 "rad",       $<Azimuth_Position>                              }
	{ "Azimuth_Speed",                    "rad/s",     "dt_az",                            "speed"      }
	{ "Azimuth_Torque",                   "Nm",        "dt_az",                            "torque"     }
	{ "Azimuth_Safe",                     "Boolean",   "azimuth_safety",                   "safe_out"   }
	{ "Azimuth_Enabled",                  "Boolean",   "dt_az",                            "enabled"    }
	{ "Azimuth_Drive_Safety",             "Boolean",   "dt_az",                            "be1"        }
	{ "Azimuth_Drive_Safety_p270",        "Boolean",   $<Azimuth_Drive_Safety_p270>                     }
	{ "Azimuth_Drive_Safety_m270",        "Boolean",   $<Azimuth_Drive_Safety_m270>                     }
		
	{ "Focusbox_Position",                "Volt",      "dt_az",                            "ae1"	    }

	{ "Elevation_Position",               "rad",       $<Elevation_Position>                            }
	{ "Elevation_Torsion",                "rad",       "elevation_input_matrix",           "out1"       }
	{ "Elevation_Setpoint",               "rad",       "elevation_spg",                    "setpoint"   }
	{ "Elevation_Spg0",                   "rad",       "elevation_spg",                    "x"          }
	{ "Elevation_Spg1",                   "rad/s",     "elevation_spg",                    "v"          }
	{ "Elevation_Spg2",                   "rad/s",     "elevation_spg",                    "a"          }
	{ "Elevation_Spg3",                   "rad/s",     "elevation_spg",                    "j"          }
	{ "Elevation_Error",                  "rad",       "elevation_error",                  "difference" }
	{ "Elevation_Setpoint_Error",         "rad",       "elevation_setpoint_error",         "difference" }
	{ "Elevation_PID",                    "rad/s",     "elevation_pid",                    "out"        }
	{ "Elevation_Torsion_Error",          "rad",       "elevation_torsion_error",          "difference" }
	{ "Elevation_Torsion_Setpoint_Error", "rad",       "elevation_torsion_setpoint_error", "difference" }
	{ "Elevation_Torsion_PID",            "rad/s",     "elevation_torsion_pid",            "out"        }
	{ "Elevation_Position_Right",         "rad",       "elevation_position_offset_r_sum",  "out"        }
	{ "Elevation_Position_Left",          "rad",       "elevation_position_offset_l_sum",  "out"        }
	{ "Elevation_Speed_Right",            "rad/s",     "dt_el_r",                          "speed"      }
	{ "Elevation_Speed_Left",             "rad/s",     "dt_el_l",                          "speed"      }
	{ "Elevation_Torque_Right",           "Nm",        "dt_el_r",                          "torque"     }
	{ "Elevation_Torque_Left",            "Nm",        "dt_el_l",                          "torque"     }
	{ "Elevation_Torsion_Torque",         "Nm",        "elevation_torsion_torque_lp",      "out"        }
	{ "Elevation_Safe",                   "Boolean",   "elevation_safety",                 "safe_out"   }
	{ "Elevation_Enabled",                "Boolean",   "dt_el_l",                          "enabled"    }
	{ "Elevation_Drive_Safety_Right",     "Boolean",   "dt_el_r",                          "be1"        }
	{ "Elevation_Drive_Safety_Left",      "Boolean",   "dt_el_l",                          "be1"        }
	{ "Elevation_Top_Safe",               "Boolean",   $<Elevation_Top_Safe>                            }
	{ "Elevation_Bottom_Safe",            "Boolean",   $<Elevation_Bottom_Safe>                         }
}

set azimuth_gear	15006.75
set elevation_gear	44803.125

params {
	{ "azimuth_spg",           "setpoint",            (float) 0.0		 }
	# maximum speed and position clients input is checked against
	{ "azimuth_spg",           "max_x",               (float) deg2rad(270.0)   }
	{ "azimuth_spg",           "min_x",               (float) deg2rad(-270.0)  }
	{ "azimuth_spg",           "max_v",               (float) rpm2rads(3000.0)/$(azimuth_gear) }
	# acceleration and jerk we use to generate a profile
	{ "azimuth_spg",           "max_a",               (float) 0.0002    	 }
	{ "azimuth_spg",           "max_j",               (float) 0.00001        }
	# at which precision do we consider the values to be 'equal'
	{ "azimuth_spg",           "precision_x",         (float) 0.000001       }
	{ "azimuth_spg",           "precision_a",         (float) 0.000001       }
	{ "azimuth_spg",           "precision_v",         (float) 0.000001       }
	# maximum values within we allow normal operation
	{ "azimuth_servo_state",   "max_x",               (float) deg2rad(270.0)   }
	{ "azimuth_servo_state",   "min_x",               (float) deg2rad(-270.0)  }
	{ "azimuth_servo_state",   "max_v",               (float) rpm2rads(3000.0)/$(azimuth_gear) }
	{ "azimuth_servo_state",   "max_a",               (float) 0.0002         }
	# controller factors
	{ "azimuth_pid",           "kp",                  (float) 0.20           }
	{ "azimuth_pid",           "ki",                  (float) 0.00           }
	{ "azimuth_pid",           "kd",                  (float) 0.0            }
	# the amount of 'wind-up' we allow in the integrator
	{ "azimuth_pid",           "maxw",                (float) rpm2rads(0.005)  }
	{ "azimuth_pid",           "minw",                (float) rpm2rads(-0.005) }

	# second order filter to make sure we do not trigger the eigenfrequency of the DT
	{ "azimuth_pid_filter",    "transfer",            (int) 2,
							  (double) 6.343831259e+05,
						          (float) { -0.9964520027, 1.9964456974 },
							  (float) { 1.0, 2.0 }
										}

	{ "azimuth_speed_warning", "max",                 (double) rpm2rads(200.0)  }
	{ "azimuth_speed_warning", "min",                 (double) rpm2rads(-200.0) }

	# Due to high vibrations observed at high speed it was decided to limit
	# the pid controller. At low speed the value is untouched, but the 
	# output is limited when speed increases 
	# limit = offset + gain * speed
	{ "azimuth_pid_limit",     "offset",              (float) rpm2rads(100.0)/$(azimuth_gear) }
	{ "azimuth_pid_limit",     "gain",                (float)-0.3               }
	# speed limit on spg + pid just before we send it to the drive
	{ "azimuth_speed_limit",   "min",                 (float) rpm2rads(-3000.0)/$(azimuth_gear) }
	{ "azimuth_speed_limit",   "max",                 (float) rpm2rads(3000.0)/$(azimuth_gear)  }
	# gear ratio between DT and servodrive
	{ "azimuth_speed_servo",   "gain",                (float)-$(azimuth_gear)          }
	# torque we allow the servodrive to actuate on the DT
	{ "azimuth_torque",        "value",               (float) 10.0              }
	# inverse gear ratio between DT and servodrive
	{ "azimuth_position_gain", "gain",                (float)-1.0/$(azimuth_gear) }
	# callibration value for position
	{ "azimuth_position_offset","value",              (float) 0.0               }

	# positions were we go into safe behavior
	# these must be outside the normal operating range
	{ "azimuth_safety",        "position_min",        (float) deg2rad(-290.0) }
	{ "azimuth_safety",        "position_max",        (float) deg2rad(290.0)  }
	# 'safe zone' is between the operating range and the absolute safety
	# value above
	{ "azimuth_safety",        "safe_zone_min",       (float) deg2rad(-280.0) }
	{ "azimuth_safety",        "safe_zone_max",       (float) deg2rad(280.0)  }
	{ "azimuth_safety",        "safe_zone_min_speed", (float) rpm2rads(-0.001) }
	{ "azimuth_safety",        "safe_zone_max_speed", (float) rpm2rads(0.001)  }
	{ "azimuth_safety",        "emergency_torque",    (float) 3.0           }
	# we do not start in recovery mode
	{ "azimuth_safety",        "recover",             (int)   0  		}

	{ "azimuth_safety_hw_pos", "msg_up",   2, "Azimuth HW positive safety switch is closed" }
	{ "azimuth_safety_hw_pos", "msg_down", 0, "Azimuth HW positive safety switch is open"   }
	{ "azimuth_safety_hw_neg", "msg_up",   2, "Azimuth HW negative safety switch is closed" }
	{ "azimuth_safety_hw_neg", "msg_down", 0, "Azimuth HW negative safety switch is open"   }

	
        { "elevation_input_matrix", "constants",          (float) { 0.5/$(elevation_gear), -0.5/$(elevation_gear) },
                                        	          (float) { 1.0/$(elevation_gear),  1.0/$(elevation_gear) } }

	{ "elevation_output_matrix", "constants",         (float) { $(elevation_gear),  $(elevation_gear)/2.0 }, 
							  (float) { -$(elevation_gear), $(elevation_gear)/2.0 } }

	{ "elevation_spg",         "setpoint",            (float) 0.0           }
	{ "elevation_spg",         "max_x",               (float) deg2rad(90.0)   }
	{ "elevation_spg",         "min_x",               (float) deg2rad(-0.05)  }
	{ "elevation_spg",         "max_v",               (float) rpm2rads(2100.0)/$(elevation_gear) }
	{ "elevation_spg",         "max_a",               (float) 0.0003   	}
	{ "elevation_spg",         "max_j",               (float) 0.000016	}
	{ "elevation_spg",         "precision_x",         (float) 0.000001      }
	{ "elevation_spg",         "precision_a",         (float) 0.000001      }
	{ "elevation_spg",         "precision_v",         (float) 0.000001      }
	{ "elevation_servo_state", "max_x",               (float) deg2rad(90.0)   }
	{ "elevation_servo_state", "min_x",               (float) deg2rad(-0.05)  }
	{ "elevation_servo_state", "max_v",               (float) rpm2rads(2100.0)/$(elevation_gear) }
	{ "elevation_servo_state", "max_a",               (float) 0.0003   	}
	{ "elevation_torsion_spg", "setpoint",            (float) 0.0           }
	{ "elevation_torsion_spg", "max_x",               (float) 0.00          }
	{ "elevation_torsion_spg", "min_x",               (float)-0.00          }
	{ "elevation_torsion_spg", "max_v",               (float) rpm2rads(0.001) }
	{ "elevation_pid",         "kp",                  (float) 0.80     	}
	{ "elevation_pid",         "ki",                  (float) 0.001  	}
	{ "elevation_pid",         "kd",                  (float) 0.001   	}
	{ "elevation_pid",         "maxw",                (float) rpm2rads(0.002)  }
	{ "elevation_pid",         "minw",                (float) rpm2rads(-0.002) }
	{ "elevation_speed_limit", "min",                 (float) rpm2rads(-0.08)  }
	{ "elevation_speed_limit", "max",                 (float) rpm2rads(0.08)   }
	{ "elevation_jerk_limit",  "min",                 (float)-0.003         }
	{ "elevation_jerk_limit",  "max",                 (float) 0.003         }
	{ "elevation_torsion_pid", "kp",                  (float) 0.2  		}
	{ "elevation_torsion_pid", "ki",                  (float) 0.0  		}
	{ "elevation_torsion_pid", "kd",                  (float) 0.0 		}
	{ "elevation_torsion_pid", "maxw",                (float) 0.0001 }
	{ "elevation_torsion_pid", "minw",                (float)-0.0001 }
	{ "elevation_torsion_speed_limit", "min",         (float) rpm2rads(-0.001) }
	{ "elevation_torsion_speed_limit", "max",         (float) rpm2rads(0.001)  }


	{ "elevation_safety",      "safe_zone_min_speed", (float)-30  		}
	{ "elevation_safety",      "safe_zone_max_speed", (float) 30  		}
	{ "elevation_safety",      "torsion_max",         (float) 0.0002 	}

	{ "elevation_safety",      "recover",             (int)   0  		}
	{ "elevation_safety",      "torque_max",          (float) 20.0		}
	{ "elevation_safety",      "emergency_torque",    (float) 3.0 		}

	{ "elevation_torque_r",    "value",               (float) 10.0          }
	{ "elevation_torque_l",    "value",               (float) 10.0          }
	{ "elevation_torsion_torque_lp", "tau",           (float) 10.0          }
	{ "elevation_position_offset_r","value",          (float) 0.0           }
	{ "elevation_position_offset_l","value",          (float) 0.0           }

	{ "elevation_safety",      "position_min",        (float) deg2rad(-0.1) * $(elevation_gear)  }
	{ "elevation_safety",      "position_max",        (float) deg2rad(90.5) * $(elevation_gear)  }
	{ "elevation_safety",      "safe_zone_min",       (float) deg2rad(-0.09) * $(elevation_gear) }
	{ "elevation_safety",      "safe_zone_max",       (float) deg2rad(90.4) * $(elevation_gear)  }
	{ "elevation_safety",      "torsion_recover_max", (float) deg2rad(1.0) }
}

# Load file with calibration parameters.
# All parameters above should not be subject to calibration.
include "dt_ctrl.param"