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Table des matières

1 Exemples pour HAL

NOTE: En cours de construction.

Tous ces exemples impliquent la disponibilité de deux “threads base” et de “servo-thread”.

1.1 Calculer la vitesse

Cet exemple utilise "ddt" pour calculer la vitesse d'un axe.

loadrt ddt count=1
loadrt hypot count =1

addf ddt.0 servo-thread
addf hypot.0 servo-thread

net X-vel ddt.0.out => ddt.1.in

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