-- -*- mode: lua; -*- return bd.system { imports = { "stdtypes", "ptrig", "lfds_cyclic", "platform_2dof", "platform_2dof_control", "mqueue" }, blocks = { { name="plat1", type="platform_2dof" }, { name="control1", type="platform_2dof_control" }, { name="ptrig1", type="ubx/ptrig" }, }, configurations = { { name="plat1", config = { initial_position={1.1,1}, joint_velocity_limits={0.5,0.5} } }, { name="control1", config = { gain=0.1, target_pos={4.5,4.5} } }, { name="ptrig1", config = { period = {sec=0, usec=100000 }, sched_policy="SCHED_OTHER", sched_priority=0, chain0={ { b="#plat1" }, { b="#control1" } } } }, }, connections = { { src="plat1.pos", tgt="control1.measured_pos" }, { src="control1.commanded_vel",tgt="plat1.desired_vel" }, { src="plat1.pos", type="ubx/mqueue" }, { src="control1.commanded_vel", type="ubx/mqueue" }, }, }