Commit 912d8a6f by Anders Blomdell

### Putting safety system under git control

parents
 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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