linuxcnc-hal-sys 0.1.5

Generated, unsafe Rust bindings to the LinuxCNC HAL submodule
Documentation 
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// This is a simple differential "kinematics" component for LinuxCNC HAL.
// Copyright 2015-2016 Sebastian Kuzminsky <seb@highlab.com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

component differential "kinematics for a differential transmission";

pin in float roll-cmd  "position command for roll (in degrees)";
pin in float pitch-cmd "position command for pitch (in degrees)";

pin out float roll-fb  "position feedback for roll (in degrees)";
pin out float pitch-fb "position feedback for pitch (in degrees)";

pin out float motor0-cmd "position command to motor0 (based on roll & pitch inputs)";
pin out float motor1-cmd "position command to motor1 (based on roll & pitch inputs)";

pin in float motor0-fb "position feedback from motor0";
pin in float motor1-fb "position feedback from motor1";

function _;
license "GPL";

;;

FUNCTION(_) {
    motor0_cmd = roll_cmd + pitch_cmd;
    motor1_cmd = roll_cmd - pitch_cmd;

    roll_fb = (motor0_fb + motor1_fb)/2;
    pitch_fb = (motor0_fb - motor1_fb)/2;
}