Differences

This shows you the differences between two versions of the page.

--- getting_started:tutorials:mockrobot [2026/01/12 10:44] – [The Full Picture] ursgraf
+++ getting_started:tutorials:mockrobot [2026/01/13 08:33] (current) – [Control System] ursgraf
@@ Line 43: / Line 43: @@
 The main program must wait for the sequencer to stop until it can finish, in order to terminate gracefully without any running thread.
 ===== Control System =====
-The control system is very simple. Each of the two axis x and y, it has a constant block acting as a set point and an integrator block pretending the position to move. \\
+The control system is very simple. A constant block with a Vector2 acts as set point for the two axis x and y. An integrator block pretends how the position moves during homing. When the robot runs a path planner with constant acceleration, see [[eeros_architecture:control_system:available_blocks:pathplannerconstacc|]], moves its position back and forth.
+[{{ :getting_started:tutorials:mockrobotcontrolsystem.png?400 |//Control system//}}]
 In the constructor of the control system the blocks are created, connected, and the integrator are enabled. All of the blocks are added to a time domain which itself is passed to the executor. This time domain runs in parallel to the safety system task.