Motor Configuration

The motor-level configuration (see Configuration Levels is read using the data I/O interface

Any configuration file/location path must be provided without its format extension, and relative to /config/sensors/

The possible configuration fields and their values are here exemplified for the case of a JSON format configuration (optional parameters are presented with default values and marked with '[o]' in their description):

{
  "interface": {                  // Hardware/virtual output interface properties
    "type": "<library_name>",       // Path (without extension) to plugin with signal output implementation (loaded from MODULES_DIR/signal_io/)
    "config": "",                   // [o] Signal input/output device configuration string passed to plugin initialization call
    "channel": 0                    // Device channel to which output/actuation values will be sent
  },
  "reference": {                  // [o] Offset reference ("ref") input configuration (as for single input configuration in sensor configuration)
    "interface": { ... },         //     Values for offset reference are only aquired during control offset state
    "signal_processing": { ... }
  },
  "output": "set",                // [o] String with math expression for conversion from control setpoint ("set") and offset reference ("ref") to output
                                  //     Possible operations are the ones supported by TinyExpr library: https://codeplea.com/tinyexpr
  "log": {                        // [o] Set logging of setpoint, offset and output numeric data over time
    "to_file": false,               // [o] Save data logging to <log_dir>/[<user_name>-]<motor_name>-<time_stamp>.log, to log file 
                                    //     Default value will set terminal logging
    "precision": 3                  // [o] Decimal precision for logged numeric values
  }
}