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Commit dbc8f67c authored by Jeroen Vreeken's avatar Jeroen Vreeken
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Add logging of focusbox outputs.

parent cfe07c98
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Showing with 9 additions and 4 deletions
controller/dt_ctrl_el_sim.ctrl
View file @ dbc8f67c
......@@ -38,8 +38,8 @@ blocks ($(frequency), $(delay)) {
{ "not", "dt_el_safety_b_not" }
{ "value_bool", "dt_el_bex" }
{ "value", "dt_el_ae1" }
{ "not", "dt_el_ba1_r" }
{ "not", "dt_el_ba2_r" }
{ "log", "dt_el_ba1_r" }
{ "log", "dt_el_ba2_r" }
{ "not", "dt_el_ba1_l" }
{ "not", "dt_el_ba2_l" }
......@@ -48,8 +48,8 @@ blocks ($(frequency), $(delay)) {
{ "speed", "dt_el_speed_limit_r", "in" }
{ "torque", "dt_el_torque_gain_r", "in" }
{ "enable", "dt_el_enabled", "input" }
{ "ba1", "dt_el_ba1_r", "input" }
{ "ba2", "dt_el_ba2_r", "input" }
{ "ba1", "dt_el_ba1_r", "condition" }
{ "ba2", "dt_el_ba2_r", "condition" }
}
{
{ "position", "dt_el_pos_quantize_r", "out" }
......@@ -137,6 +137,11 @@ params {
{ "dt_el_safety_t", "value", true }
{ "dt_el_safety_b", "value", (bool)1 }
{ "dt_el_bex", "value", (bool)0 }
{ "dt_el_ba1_r", "msg_up", "Focusbox Plus activated" }
{ "dt_el_ba1_r", "msg_down", "Focusbox Plus deactivated" }
{ "dt_el_ba2_r", "msg_up", "Focusbox Min activated" }
{ "dt_el_ba2_r", "msg_down", "Focusbox Min deactivated" }
}
links {
......
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