Commit 912d8a6f authored by Anders Blomdell's avatar Anders Blomdell
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Putting safety system under git control

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LengthOK(const max_length,length_0_0,length_0_1,length_1_0,length_1_1,length_2_0,length_2_1,length_3_0,length_3_1,length_4_0,length_4_1,out bits_ok, out_reg length)
descr.en Uses length_*_1 bits as a binary coded value of
descr.en length (in 100 mm increments) and chacks that it is
descr.en less than max_length.
descr.en
descr.en For each length_* bit, either length_*_0 or length_*_1
descr.en has to be connected, but not both.
{
!Result = length_ok
!r = encoded
!m = tmp1
!m = tmp2
; Check that each length bit is either 0 or 1
tmp1 = (length_0_0 + length_0_1) * (length_1_0 + length_1_1) * (length_2_0 + length_2_1) * (length_3_0 + length_3_1) * (length_4_0 + length_4_1)
tmp2 = (length_0_0 * length_0_1) + (length_1_0 * length_1_1) + (length_2_0 * length_2_1) + (length_3_0 * length_3_1) + (length_4_0 * length_4_1)
bits_ok = tmp1 * /tmp2
; Calculate encoded length (in 100 mm increments)
(encoded=0)
(encoded+=100) = length_0_1
(encoded+=200) = length_1_1
(encoded+=400) = length_2_1
(encoded+=800) = length_3_1
(encoded+=1600) = length_4_1
(length=encoded)
; Length is OK if all bits are correctly wired and the
; encoded length is less than the maximum length
Result = bits_ok * (length < max_length)
}
B$Name LTH Reglerteknik Robotlab Robotcell A, B, C 121206 RB
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