beremiz

Adding example of path generator program

2009-01-14, lbessard
b9ec99fab9fc
Parents a47081eb6cec
Children 39b3d4a2195b
Adding example of path generator program
3 files changed, 592 insertions(+), 0 deletions(-)
  • +6 -0
    tests/motion/beremiz.xml
  • +585 -0
    tests/motion/plc.xml
  • +1 -0
    tests/motion/runtime.py
    • --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/tests/motion/beremiz.xml Wed Jan 14 19:50:09 2009 +0100
    @@ -0,0 +1,6 @@
    +<?xml version="1.0" encoding="UTF-8"?>
    +<BeremizRoot URI_location="LOCAL://">
    + <TargetType>
    + <Linux CFLAGS="-g -fPIC" LDFLAGS="-g -fPIC"/>
    + </TargetType>
    +</BeremizRoot>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/tests/motion/plc.xml Wed Jan 14 19:50:09 2009 +0100
    @@ -0,0 +1,585 @@
    +<?xml version="1.0" encoding="UTF-8"?>
    +<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    + xmlns="http://www.plcopen.org/xml/tc6.xsd"
    + xmlns:xhtml="http://www.w3.org/1999/xhtml"
    + xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
    + <fileHeader companyName="Lolitech"
    + productName="GenTraj"
    + productVersion="1.0"
    + creationDateTime="2009-01-13T12:15:00"/>
    + <contentHeader name="GenTraj"
    + modificationDateTime="2009-01-14T20:10:13">
    + <coordinateInfo>
    + <fbd>
    + <scaling x="0" y="0"/>
    + </fbd>
    + <ld>
    + <scaling x="0" y="0"/>
    + </ld>
    + <sfc>
    + <scaling x="0" y="0"/>
    + </sfc>
    + </coordinateInfo>
    + </contentHeader>
    + <types>
    + <dataTypes/>
    + <pous>
    + <pou name="GenTraj" pouType="functionBlock">
    + <interface>
    + <inputVars>
    + <variable name="Period">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Gmvt">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Vmvt">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="P0">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="V0">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Pf">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Vf">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + </inputVars>
    + <outputVars>
    + <variable name="Pn">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Vn">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Gn">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + </outputVars>
    + <localVars>
    + <variable name="P">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="F">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Ps2">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Fs3">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="delta">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Va">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Vb">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + <variable name="Vaut">
    + <type>
    + <REAL/>
    + </type>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <ST>
    +<![CDATA[IF Period <> P THEN
    + P := Period;
    + F := 1.0 / P;
    + Ps2 := P / 2.0;
    + Fs3 := F / 3.0;
    +END_IF;
    +
    +IF Pf <> Pn THEN
    + delta := Pf - P0 - V0 * P;
    +
    + Va := SQRT(ABS(2.0 * Gmvt * delta) + Vf * Vf);
    + Vb := Vf + delta * Fs3;
    +
    + IF Va > ABS(Vb) THEN
    + Vaut := MIN(ABS(Vb), Vmvt);
    + IF Vb < 0.0 THEN
    + Vaut := -Vaut;
    + END_IF;
    + ELSE
    + Vaut := MIN(Va, Vmvt);
    + IF Pf < P0 THEN
    + Vaut := -Vaut;
    + END_IF;
    + END_IF;
    +
    + Gn := MIN(ABS((Vaut - V0) * F), Gmvt);
    + IF Vaut < V0 THEN
    + Gn := -Gn;
    + END_IF;
    +
    +END_IF;
    +
    +Vn := V0 + Gn * P;
    +
    +Pn := P0 + (Vn + V0) * Ps2;
    +
    +IF (P0 >= Pf) <> (Pn >= Pf) AND Vf <> 0.0 THEN
    + Pn := Pf;
    +END_IF;
    +
    +]]>
    + </ST>
    + </body>
    + </pou>
    + <pou name="TestMotion" pouType="program">
    + <interface>
    + <localVars>
    + <variable name="GO">
    + <type>
    + <BOOL/>
    + </type>
    + <initialValue>
    + <simpleValue value="TRUE"/>
    + </initialValue>
    + </variable>
    + <variable name="TRIG">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="GenTraj1">
    + <type>
    + <derived name="GenTraj"/>
    + </type>
    + </variable>
    + <variable name="py_eval">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="RS1">
    + <type>
    + <derived name="RS"/>
    + </type>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <FBD>
    + <inVariable localId="2" height="25" width="63">
    + <position x="203" y="208"/>
    + <connectionPointOut>
    + <relPosition x="63" y="12"/>
    + </connectionPointOut>
    + <expression>GO</expression>
    + </inVariable>
    + <inVariable localId="4" height="25" width="100">
    + <position x="295" y="312"/>
    + <connectionPointOut>
    + <relPosition x="100" y="12"/>
    + </connectionPointOut>
    + <expression>REAL#0.1</expression>
    + </inVariable>
    + <inVariable localId="6" height="25" width="100">
    + <position x="294" y="345"/>
    + <connectionPointOut>
    + <relPosition x="100" y="12"/>
    + </connectionPointOut>
    + <expression>REAL#1.0</expression>
    + </inVariable>
    + <inVariable localId="7" height="25" width="99">
    + <position x="294" y="378"/>
    + <connectionPointOut>
    + <relPosition x="99" y="12"/>
    + </connectionPointOut>
    + <expression>REAL#1.0</expression>
    + </inVariable>
    + <inVariable localId="8" height="25" width="100">
    + <position x="292" y="477"/>
    + <connectionPointOut>
    + <relPosition x="100" y="12"/>
    + </connectionPointOut>
    + <expression>REAL#10.0</expression>
    + </inVariable>
    + <block localId="9" width="178" height="290" typeName="GenTraj" instanceName="GenTraj1">
    + <position x="488" y="255"/>
    + <inputVariables>
    + <variable formalParameter="EN">
    + <connectionPointIn>
    + <relPosition x="0" y="36"/>
    + <connection refLocalId="13" formalParameter="Q1">
    + <position x="488" y="291"/>
    + <position x="442" y="291"/>
    + <position x="442" y="259"/>
    + <position x="396" y="259"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="Period">
    + <connectionPointIn>
    + <relPosition x="0" y="69"/>
    + <connection refLocalId="4">
    + <position x="488" y="324"/>
    + <position x="395" y="324"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="Gmvt">
    + <connectionPointIn>
    + <relPosition x="0" y="102"/>
    + <connection refLocalId="6">
    + <position x="488" y="357"/>
    + <position x="394" y="357"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="Vmvt">
    + <connectionPointIn>
    + <relPosition x="0" y="135"/>
    + <connection refLocalId="7">
    + <position x="488" y="390"/>
    + <position x="393" y="390"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="P0">
    + <connectionPointIn>
    + <relPosition x="0" y="168"/>
    + <connection refLocalId="9" formalParameter="Pn">
    + <position x="488" y="423"/>
    + <position x="430" y="423"/>
    + <position x="430" y="607"/>
    + <position x="724" y="607"/>
    + <position x="724" y="324"/>
    + <position x="666" y="324"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="V0">
    + <connectionPointIn>
    + <relPosition x="0" y="201"/>
    + <connection refLocalId="9" formalParameter="Vn">
    + <position x="488" y="456"/>
    + <position x="453" y="456"/>
    + <position x="453" y="577"/>
    + <position x="696" y="577"/>
    + <position x="696" y="357"/>
    + <position x="666" y="357"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="Pf">
    + <connectionPointIn>
    + <relPosition x="0" y="234"/>
    + <connection refLocalId="8">
    + <position x="488" y="489"/>
    + <position x="392" y="489"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="Vf">
    + <connectionPointIn>
    + <relPosition x="0" y="267"/>
    + <connection refLocalId="10">
    + <position x="488" y="522"/>
    + <position x="392" y="522"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ENO">
    + <connectionPointOut>
    + <relPosition x="178" y="36"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="Pn">
    + <connectionPointOut>
    + <relPosition x="178" y="69"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="Vn">
    + <connectionPointOut>
    + <relPosition x="178" y="102"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="Gn">
    + <connectionPointOut>
    + <relPosition x="178" y="135"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="10" height="25" width="99">
    + <position x="293" y="510"/>
    + <connectionPointOut>
    + <relPosition x="99" y="12"/>
    + </connectionPointOut>
    + <expression>REAL#0.0</expression>
    + </inVariable>
    + <block localId="11" width="75" height="70" typeName="EQ">
    + <position x="197" y="247"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="32"/>
    + <connection refLocalId="9" formalParameter="Pn">
    + <position x="197" y="279"/>
    + <position x="145" y="279"/>
    + <position x="145" y="629"/>
    + <position x="724" y="629"/>
    + <position x="724" y="324"/>
    + <position x="666" y="324"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="57"/>
    + <connection refLocalId="8">
    + <position x="197" y="304"/>
    + <position x="176" y="304"/>
    + <position x="176" y="433"/>
    + <position x="409" y="433"/>
    + <position x="409" y="489"/>
    + <position x="392" y="489"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="75" y="32"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="12" width="120" height="87" typeName="python_eval" instanceName="py_eval">
    + <position x="318" y="73"/>
    + <inputVariables>
    + <variable formalParameter="TRIG">
    + <connectionPointIn>
    + <relPosition x="0" y="36"/>
    + <connection refLocalId="15" formalParameter="OUT">
    + <position x="318" y="109"/>
    + <position x="225" y="109"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="CODE">
    + <connectionPointIn>
    + <relPosition x="0" y="69"/>
    + <connection refLocalId="14">
    + <position x="318" y="142"/>
    + <position x="280" y="142"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="120" y="36"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="RESULT">
    + <connectionPointOut>
    + <relPosition x="120" y="69"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="13" width="55" height="60" typeName="RS" instanceName="RS1">
    + <position x="341" y="229"/>
    + <inputVariables>
    + <variable formalParameter="S">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="2">
    + <position x="341" y="259"/>
    + <position x="303" y="259"/>
    + <position x="303" y="220"/>
    + <position x="266" y="220"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="R1">
    + <connectionPointIn>
    + <relPosition x="0" y="50"/>
    + <connection refLocalId="11" formalParameter="OUT">
    + <position x="341" y="279"/>
    + <position x="272" y="279"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="Q1">
    + <connectionPointOut>
    + <relPosition x="55" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="14" height="25" width="50">
    + <position x="230" y="130"/>
    + <connectionPointOut>
    + <relPosition x="50" y="12"/>
    + </connectionPointOut>
    + <expression>'GO'</expression>
    + </inVariable>
    + <block localId="15" width="65" height="40" typeName="NOT">
    + <position x="160" y="79"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="16">
    + <position x="160" y="109"/>
    + <position x="118" y="109"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="65" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inOutVariable localId="16" height="25" width="50">
    + <position x="68" y="97"/>
    + <connectionPointIn>
    + <relPosition x="0" y="12"/>
    + <connection refLocalId="15" formalParameter="OUT">
    + <position x="68" y="109"/>
    + <position x="42" y="109"/>
    + <position x="42" y="50"/>
    + <position x="262" y="50"/>
    + <position x="262" y="109"/>
    + <position x="225" y="109"/>
    + </connection>
    + </connectionPointIn>
    + <connectionPointOut>
    + <relPosition x="50" y="12"/>
    + </connectionPointOut>
    + <expression>TRIG</expression>
    + </inOutVariable>
    + <block localId="17" width="140" height="40" typeName="STRING_TO_INT">
    + <position x="486" y="112"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="12" formalParameter="RESULT">
    + <position x="486" y="142"/>
    + <position x="438" y="142"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="140" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="18" width="120" height="40" typeName="INT_TO_BOOL">
    + <position x="671" y="112"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="17" formalParameter="OUT">
    + <position x="671" y="142"/>
    + <position x="626" y="142"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="120" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <outVariable localId="19" height="25" width="63">
    + <position x="826" y="130"/>
    + <connectionPointIn>
    + <relPosition x="0" y="12"/>
    + <connection refLocalId="18" formalParameter="OUT">
    + <position x="826" y="142"/>
    + <position x="791" y="142"/>
    + </connection>
    + </connectionPointIn>
    + <expression>GO</expression>
    + </outVariable>
    + </FBD>
    + </body>
    + </pou>
    + </pous>
    + </types>
    + <instances>
    + <configurations>
    + <configuration name="config">
    + <resource name="ress">
    + <task name="MAIN_TASK" interval="00:00:00.100000" priority="0">
    + <pouInstance name="MAIN_INSTANCE" type="TestMotion"/>
    + </task>
    + </resource>
    + </configuration>
    + </configurations>
    + </instances>
    +</project>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/tests/motion/runtime.py Wed Jan 14 19:50:09 2009 +0100
    @@ -0,0 +1,1 @@
    +GO = 0
    \ No newline at end of file