{
    "id": 140568870538064,
    "scene_width": 64000,
    "scene_height": 64000,
    "scene_pos_x": -378.0,
    "scene_pos_y": -2070.0,
    "nodes": [
        {
            "id": 29,
            "enable": true,
            "is_invalid": false,
            "title": "PositionControllerWithLimitedDynamics",
            "pos_x": -482.59281063078384,
            "pos_y": -2137.087890624998,
            "inputs": [
                {
                    "id": 290001,
                    "index": 0,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 3,
                    "link_id": 2,
                    "text": "params",
                    "mode": "input",
                    "object": "setting",
                    "true_type": "none",
                    "type": "control::regulator::ParabolicPositioner",
                    "description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                },
                {
                    "id": 290002,
                    "index": 1,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 3,
                    "link_id": 1,
                    "text": "limits",
                    "mode": "input",
                    "object": "setting",
                    "true_type": "none",
                    "type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
                    "description": "\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0438 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f \u0434\u0438\u043d\u0430\u043c\u0438\u043a\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                }
            ],
            "outputs": [
                {
                    "id": 290101,
                    "index": 0,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 2,
                    "link_id": 1,
                    "text": "regulator",
                    "mode": "output",
                    "object": "resource",
                    "true_type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
                    "type": "control::regulator::ParabolicPositioner",
                    "description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043f\u043e\u0437\u0438\u0446\u0438\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                },
                {
                    "id": 290102,
                    "index": 1,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 1,
                    "link_id": 1,
                    "text": "proportional_part",
                    "mode": "output",
                    "object": "value",
                    "true_type": "const float &",
                    "type": "float",
                    "description": "\u041f\u0440\u043e\u043f\u043e\u0446\u0438\u043e\u043d\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u043e\u0441\u0442\u0430\u0432\u043b\u044f\u044e\u0449\u0430\u044f \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
                },
                {
                    "id": 290103,
                    "index": 2,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 1,
                    "link_id": 2,
                    "text": "output",
                    "mode": "output",
                    "object": "value",
                    "true_type": "const float &",
                    "type": "float",
                    "description": "\u0412\u044b\u0445\u043e\u0434 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u0438."
                }
            ],
            "content": {
                "id": 139948589890816
            },
            "alias": "",
            "comment": "",
            "params": {},
            "initializer_id": 65,
            "process_settings": {
                "processor_id": null,
                "priority": null,
                "period": null,
                "phase": null
            },
            "node_id": 7,
            "cpu_id": 0
        },
        {
            "id": 41,
            "enable": true,
            "is_invalid": false,
            "title": "control::regulator::ParabolicPositionerWithLimitedDynamics",
            "pos_x": -768.4053106307838,
            "pos_y": -2032.0878906249982,
            "inputs": [],
            "outputs": [
                {
                    "id": 410101,
                    "index": 0,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 3,
                    "link_id": 1,
                    "text": "",
                    "mode": "output",
                    "object": "",
                    "true_type": "",
                    "type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
                    "description": ""
                }
            ],
            "content": {
                "id": 139948589826976
            },
            "alias": "",
            "comment": "",
            "params": {
                "minimal_time": {
                    "value": 0.1,
                    "format": "f",
                    "description": "\u041c\u0438\u043d\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u043f\u0435\u0440\u0435\u043c\u0435\u0449\u0435\u043d\u0438\u044f."
                }
            },
            "setting_name": "Position Regulator limits",
            "group": "Control System",
            "level": 3
        },
        {
            "id": 44,
            "enable": true,
            "is_invalid": false,
            "title": "control::regulator::ParabolicPositioner",
            "pos_x": -768.4053106307838,
            "pos_y": -2137.087890624998,
            "inputs": [],
            "outputs": [
                {
                    "id": 440101,
                    "index": 0,
                    "multi_edges": true,
                    "position": 2,
                    "socket_type": 3,
                    "link_id": 2,
                    "text": "",
                    "mode": "output",
                    "object": "",
                    "true_type": "",
                    "type": "control::regulator::ParabolicPositioner",
                    "description": ""
                }
            ],
            "content": {
                "id": 139948589828272
            },
            "alias": "",
            "comment": "",
            "params": {
                "max_speed": {
                    "value": 380.0,
                    "format": "f",
                    "description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u0430\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c.",
                    "alias": "",
                    "min": 0.0,
                    "max": 600.0
                },
                "max_acc": {
                    "value": 15000.0,
                    "format": "f",
                    "description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u0443\u0441\u043a\u043e\u0440\u0435\u043d\u0438\u0435 \u0440\u0430\u0437\u0433\u043e\u043d\u0430.",
                    "alias": "",
                    "min": 0.0,
                    "max": 25000.0
                },
                "max_dec": {
                    "value": 15000.0,
                    "format": "f",
                    "description": "\u041c\u0430\u043a\u0441\u0438\u043c\u0430\u043b\u044c\u043d\u043e\u0435 \u0443\u0441\u043a\u043e\u0440\u0435\u043d\u0438\u0435 \u0442\u043e\u0440\u043c\u043e\u0436\u0435\u043d\u0438\u044f.",
                    "alias": "",
                    "min": 0.0,
                    "max": 25000.0
                },
                "Kp_lin": {
                    "value": 150.0,
                    "format": "f",
                    "description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u044f \u0432 \u0441\u043b\u0435\u0434\u044f\u0449\u0435\u043c \u0440\u0435\u0436\u0438\u043c\u0435.",
                    "alias": "",
                    "min": 0.0,
                    "max": 1200.0
                }
            },
            "setting_name": "Position Regulator",
            "group": "Control System",
            "level": 3
        },
        {
            "id": 35,
            "enable": true,
            "is_invalid": false,
            "title": "Signal",
            "pos_x": -103.88763427734307,
            "pos_y": -2052.087890624998,
            "inputs": [
                {
                    "id": 350001,
                    "index": 0,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": 1,
                    "text": "",
                    "mode": "",
                    "object": "",
                    "true_type": "",
                    "type": "float",
                    "description": ""
                }
            ],
            "outputs": [],
            "content": {
                "id": 139948589829568
            },
            "alias": "",
            "comment": "",
            "params": {},
            "object_name": "Position regulator Proportional",
            "group": "Control System"
        },
        {
            "id": 23,
            "enable": true,
            "is_invalid": false,
            "title": "Signal",
            "pos_x": -103.88763427734307,
            "pos_y": -1967.0878906249982,
            "inputs": [
                {
                    "id": 230001,
                    "index": 0,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 1,
                    "link_id": 2,
                    "text": "",
                    "mode": "",
                    "object": "",
                    "true_type": "",
                    "type": "float",
                    "description": ""
                }
            ],
            "outputs": [],
            "content": {
                "id": 139948589830864
            },
            "alias": "",
            "comment": "",
            "params": {},
            "object_name": "Reference Position",
            "group": "Control System"
        },
        {
            "id": 28,
            "enable": true,
            "is_invalid": false,
            "title": "Output",
            "pos_x": -103.88763427734307,
            "pos_y": -2137.087890624998,
            "inputs": [
                {
                    "id": 280001,
                    "index": 0,
                    "multi_edges": false,
                    "position": 0,
                    "socket_type": 2,
                    "link_id": 1,
                    "text": "",
                    "mode": "input",
                    "object": "resource",
                    "true_type": "control::regulator::ParabolicPositionerWithLimitedDynamics",
                    "type": "control::regulator::ParabolicPositioner",
                    "description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043f\u043e\u0437\u0438\u0446\u0438\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
                }
            ],
            "outputs": [],
            "content": {
                "id": 139948589832160
            },
            "alias": "",
            "comment": "",
            "params": {},
            "object_name": "Posititon Regulator",
            "group": "PositionControllerWithLimitedDynamics"
        }
    ],
    "edges": [
        {
            "edge_type": 2,
            "start": 290002,
            "end": 410101
        },
        {
            "edge_type": 2,
            "start": 290001,
            "end": 440101
        },
        {
            "edge_type": 2,
            "start": 290102,
            "end": 350001
        },
        {
            "edge_type": 2,
            "start": 290103,
            "end": 230001
        },
        {
            "edge_type": 2,
            "start": 290101,
            "end": 280001
        }
    ]
}