eeros_architecture:hal:scaling_multi
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Setting Multiple Scales and Ranges
The existing hardware is often comprised of several stages such as a digital to analogue converter, an amplifier, and the motor constant.
In such cases it is very handy to describe each stage individually as given in the following example
"channel0": { "signalId": "dacOut", "scale": [ { "id" : "dac", "minIn": 1000, "maxIn": 64000, "minOut": -9.787, "maxOut": 9.923 }, { "id" : "amp", "minIn": -10.0, "maxIn": 10.0, "minOut": -7.0, "maxOut": 7.0 }, { "id" : "kM", "minIn": -5.0, "maxIn": 5.0, "minOut": -1.0, "maxOut": 1.0 } ], "range": [ { "id" : "dac", "minIn": 0, "maxIn": 65536, "minOut": -10.0, "maxOut": 10.0 }, { "id" : "amp", "minIn": -10.0, "maxIn": 10.0, "minOut": -7.0, "maxOut": 7.0 }, { "id" : "kM", "minIn": -5.0, "maxIn": 5.0, "minOut": -1.0, "maxOut": 1.0 } ], "unit": "Nm" }
The HAL will calculate the scale and range of the whole chain considering the single steps. The range of the whole chain will be determined by the most restricting range of the single stages. The unit is determined by the unit of the last stage.
eeros_architecture/hal/scaling_multi.1499232489.txt.gz · Last modified: 2017/07/05 07:28 (external edit)