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.TH INTEG "9" "2024-03-13" "LinuxCNC Documentation" "HAL Component"
.SH NAME

integ \- Integrator with gain pin and windup limits
.SH SYNOPSIS
.HP
.B loadrt integ [count=\fIN\fB|names=\fIname1\fB[,\fIname2...\fB]]
.SH FUNCTIONS
.TP
\fBinteg.\fIN\fB\fR (requires a floating-point thread)

.SH PINS
.TP
.B integ.\fIN\fB.in\fR float in \fR
.br
.ns
.TP
.B integ.\fIN\fB.gain\fR float in \fR(default: \fI1.0\fR)
.br
.ns
.TP
.B integ.\fIN\fB.out\fR float out \fR
The discrete integral of 'gain * in' since 'reset' was deasserted
.TP
.B integ.\fIN\fB.reset\fR bit in \fR
When asserted, set out to 0
.TP
.B integ.\fIN\fB.max\fR float in \fR(default: \fI1e20\fR)
.br
.ns
.TP
.B integ.\fIN\fB.min\fR float in \fR(default: \fI-1e20\fR)
.SH AUTHOR

Jeff Epler
.SH LICENSE

GPL