1467 lines
64 KiB
JSON
1467 lines
64 KiB
JSON
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"description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
|
|
},
|
|
{
|
|
"id": 160002,
|
|
"index": 1,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": 61,
|
|
"text": "Effort Compensation",
|
|
"mode": "output",
|
|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "processing::acs::ValueToPhaseSpaceUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
|
},
|
|
{
|
|
"id": 160003,
|
|
"index": 2,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": 72,
|
|
"text": "Ramp Speed",
|
|
"mode": "output",
|
|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
|
},
|
|
{
|
|
"id": 160004,
|
|
"index": 3,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": 67,
|
|
"text": "Speed Control",
|
|
"mode": "output",
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|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
|
},
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{
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|
"id": 160005,
|
|
"index": 4,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": 41,
|
|
"text": "Torque Control",
|
|
"mode": "output",
|
|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "processing::acs::PhaseSpaceToStandingVectorUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
|
},
|
|
{
|
|
"id": 160006,
|
|
"index": 5,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": -1,
|
|
"text": "Voltage Control",
|
|
"mode": "output",
|
|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "technological::adapter::PwmGenAdapter",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
|
},
|
|
{
|
|
"id": 160007,
|
|
"index": 6,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": -1,
|
|
"text": "Inverter Control",
|
|
"mode": "output",
|
|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "driver::IInverter",
|
|
"description": "\u041a\u043e\u043d\u0435\u0447\u043d\u044b\u0439 \u0438\u043d\u0442\u0435\u0440\u0444\u0435\u0439\u0441 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f."
|
|
},
|
|
{
|
|
"id": 160008,
|
|
"index": 7,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": 63,
|
|
"text": "Force Control",
|
|
"mode": "output",
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|
"object": "dynamic",
|
|
"true_type": "none",
|
|
"type": "processing::acs::ValueToPhaseSpaceUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0440\u0435\u0430\u043b\u0438\u0437\u0443\u044e\u0449\u0438\u0439 \u043e\u0434\u0438\u043d \u0438\u0437 \u043a\u043e\u043d\u0442\u0443\u0440\u043e\u0432."
|
|
}
|
|
],
|
|
"outputs": [
|
|
{
|
|
"id": 160101,
|
|
"index": 0,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 53,
|
|
"text": "Force Control State",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "technological::drivecontrol::state::ControlStateValueControl",
|
|
"type": "technological::IExecutorState",
|
|
"description": "\u0421\u043e\u0441\u0442\u043e\u044f\u043d\u0438\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u043c \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u0435\u043c."
|
|
}
|
|
],
|
|
"content": {
|
|
"id": 139948586735872
|
|
},
|
|
"alias": "",
|
|
"comment": "",
|
|
"params": {},
|
|
"cpu_id": 0,
|
|
"graph": "ForceUnitTie.json",
|
|
"offset": 45
|
|
},
|
|
{
|
|
"id": 17,
|
|
"enable": true,
|
|
"is_invalid": true,
|
|
"title": "ForceEstimator",
|
|
"pos_x": -1247.583007812499,
|
|
"pos_y": -657.9814453124997,
|
|
"inputs": [
|
|
{
|
|
"id": 170001,
|
|
"index": 0,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 1,
|
|
"link_id": -1,
|
|
"text": "Raw Force",
|
|
"mode": "output",
|
|
"object": "value",
|
|
"true_type": "none",
|
|
"type": "float",
|
|
"description": "\u0423\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435 \u043e\u0442 \u0434\u0430\u0447\u0442\u0438\u043a\u0430 \u0443\u0441\u0438\u043b\u0438\u044f."
|
|
},
|
|
{
|
|
"id": 170002,
|
|
"index": 1,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 1,
|
|
"link_id": -1,
|
|
"text": "Rotor Position",
|
|
"mode": "output",
|
|
"object": "value",
|
|
"true_type": "none",
|
|
"type": "float",
|
|
"description": "\u041f\u043e\u0437\u0438\u0446\u0438\u044f \u0440\u043e\u0442\u043e\u0440\u0430."
|
|
},
|
|
{
|
|
"id": 170003,
|
|
"index": 2,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 1,
|
|
"link_id": -1,
|
|
"text": "Rotor Speed",
|
|
"mode": "output",
|
|
"object": "value",
|
|
"true_type": "none",
|
|
"type": "float",
|
|
"description": "\u0421\u043a\u043e\u0440\u043e\u0441\u0442\u044c \u0440\u043e\u0442\u043e\u0440\u0430."
|
|
}
|
|
],
|
|
"outputs": [
|
|
{
|
|
"id": 170101,
|
|
"index": 0,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 1,
|
|
"link_id": 60,
|
|
"text": "Force Derivative",
|
|
"mode": "input",
|
|
"object": "value",
|
|
"true_type": "const float &",
|
|
"type": "float",
|
|
"description": "\u041f\u0440\u043e\u0438\u0437\u0432\u043e\u0434\u043d\u0430\u044f \u0432\u0445\u043e\u0434\u043d\u043e\u0433\u043e \u0441\u0438\u0433\u043d\u0430\u043b\u0430."
|
|
},
|
|
{
|
|
"id": 170102,
|
|
"index": 1,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 1,
|
|
"link_id": 59,
|
|
"text": "Force Predicted",
|
|
"mode": "input",
|
|
"object": "value",
|
|
"true_type": "const float &",
|
|
"type": "float",
|
|
"description": "\u0424\u0438\u043b\u044c\u0442\u0440\u043e\u0432\u0430\u043d\u043d\u043e\u0435 \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u0435."
|
|
},
|
|
{
|
|
"id": 170103,
|
|
"index": 2,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 56,
|
|
"text": "Khardness",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "systemic::IValueType<float>",
|
|
"type": "systemic::IValueType<float>",
|
|
"description": "\u0416\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u044c (\u041d*\u043c)."
|
|
},
|
|
{
|
|
"id": 170104,
|
|
"index": 3,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 1,
|
|
"link_id": 58,
|
|
"text": "Khardness Estimated",
|
|
"mode": "input",
|
|
"object": "value",
|
|
"true_type": "const float &",
|
|
"type": "float",
|
|
"description": "\u041e\u0446\u0435\u043d\u043a\u0430 \u0436\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u0438 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0441 \u043f\u043e\u043c\u043e\u0449\u044c\u044e \u043d\u0430\u0431\u043b\u044e\u0434\u0430\u0442\u0435\u043b\u044f."
|
|
}
|
|
],
|
|
"content": {
|
|
"id": 139948589834464
|
|
},
|
|
"alias": "",
|
|
"comment": "",
|
|
"params": {},
|
|
"cpu_id": 0,
|
|
"graph": "ForceEstimator.json",
|
|
"offset": 55
|
|
},
|
|
{
|
|
"id": 18,
|
|
"enable": true,
|
|
"is_invalid": true,
|
|
"title": "ForceController",
|
|
"pos_x": -755.6224975585942,
|
|
"pos_y": -668.3642578124995,
|
|
"inputs": [
|
|
{
|
|
"id": 180001,
|
|
"index": 0,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 1,
|
|
"link_id": 59,
|
|
"text": "Force Predicted",
|
|
"mode": "output",
|
|
"object": "value",
|
|
"true_type": "none",
|
|
"type": "float",
|
|
"description": "\u0422\u0435\u043a\u0443\u0449\u0435\u0435 \u043b\u0438\u043d\u0435\u0439\u043d\u043e\u0435 \u0443\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
|
|
},
|
|
{
|
|
"id": 180002,
|
|
"index": 1,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 1,
|
|
"link_id": -1,
|
|
"text": "Rotor Speed",
|
|
"mode": "output",
|
|
"object": "value",
|
|
"true_type": "none",
|
|
"type": "float",
|
|
"description": "\u0422\u0435\u043a\u0443\u0449\u0435\u0435 \u043b\u0438\u043d\u0435\u0439\u043d\u043e\u0435 \u0443\u0441\u0438\u043b\u0438\u0435 \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
|
|
},
|
|
{
|
|
"id": 180003,
|
|
"index": 2,
|
|
"multi_edges": false,
|
|
"position": 0,
|
|
"socket_type": 2,
|
|
"link_id": 83,
|
|
"text": "Speed Regulator",
|
|
"mode": "output",
|
|
"object": "static",
|
|
"true_type": "none",
|
|
"type": "control::regulator::SpeedController",
|
|
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438."
|
|
}
|
|
],
|
|
"outputs": [
|
|
{
|
|
"id": 180101,
|
|
"index": 0,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 66,
|
|
"text": "Diagnostic",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "control::regulator::ForceController",
|
|
"type": "control::regulator::ForceController",
|
|
"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0443\u0441\u0438\u043b\u0438\u044f \u043e\u0431\u0435\u0441\u043f\u0435\u0447\u0438\u0432\u0430\u044e\u0449\u0438\u0439 \u043d\u0430\u0431\u043e\u0440 \u0438 \u043f\u043e\u0434\u0434\u0435\u0440\u0436\u0430\u043d\u0438\u0435 \u0443\u0441\u0438\u043b\u0438\u044f."
|
|
},
|
|
{
|
|
"id": 180102,
|
|
"index": 1,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 63,
|
|
"text": "Force Control",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "processing::acs::ForceControlProcess",
|
|
"type": "processing::acs::ValueToPhaseSpaceUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0443\u0441\u0438\u043b\u0438\u0435\u043c \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
|
|
},
|
|
{
|
|
"id": 180103,
|
|
"index": 2,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 61,
|
|
"text": "EffortCompensation",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "processing::acs::EffortCompensationProcess",
|
|
"type": "processing::acs::ValueToPhaseSpaceUnitInterface",
|
|
"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u043a\u043e\u043c\u043f\u0435\u043d\u0441\u0430\u0446\u0438\u0438 \u0443\u0441\u0438\u043b\u0438\u044f \u043d\u0430 \u0448\u0442\u043e\u043a\u0435."
|
|
},
|
|
{
|
|
"id": 180104,
|
|
"index": 3,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 64,
|
|
"text": "Khardness",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "systemic::IValueType<float>",
|
|
"type": "systemic::IValueType<float>",
|
|
"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0436\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u0438 \u0443\u043f\u043e\u0440\u0430."
|
|
},
|
|
{
|
|
"id": 180105,
|
|
"index": 4,
|
|
"multi_edges": true,
|
|
"position": 2,
|
|
"socket_type": 2,
|
|
"link_id": 65,
|
|
"text": "Mass",
|
|
"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "systemic::IValueType<float>",
|
|
"type": "systemic::IValueType<float>",
|
|
"description": "\u041a\u043e\u044d\u0444\u0444\u0438\u0446\u0438\u0435\u043d\u0442 \u0436\u0435\u0441\u0442\u043a\u043e\u0441\u0442\u0438 \u0443\u043f\u043e\u0440\u0430."
|
|
},
|
|
{
|
|
"id": 180106,
|
|
"index": 5,
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"multi_edges": true,
|
|
"position": 2,
|
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"socket_type": 2,
|
|
"link_id": 62,
|
|
"text": "Efficienty",
|
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"mode": "input",
|
|
"object": "resource",
|
|
"true_type": "processing::acs::EffortCompensationProcess",
|
|
"type": "systemic::IValueType<float>",
|
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"description": "\u042d\u0444\u0444\u0435\u043a\u0442\u0438\u0432\u043d\u043e\u0441\u0442\u044c \u043f\u0435\u0440\u0435\u0434\u0430\u0447\u0438 \u0443\u0441\u0438\u043b\u0438\u044f (\u043a\u043f\u0434, \u0438\u0434\u0435\u0430\u043b\u044c\u043d\u043e\u0435 - 1)."
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},
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{
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"id": 180107,
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"index": 6,
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"multi_edges": true,
|
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"position": 2,
|
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"socket_type": 2,
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"link_id": 67,
|
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"text": "Force Speed Control Process",
|
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"mode": "input",
|
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"object": "resource",
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"true_type": "processing::acs::SpeedControlProcess",
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"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u044c\u044e \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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},
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{
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"id": 180108,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 69,
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"text": "Force Torque down Limit",
|
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"mode": "input",
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"object": "resource",
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"true_type": "systemic::IValueType<float>",
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"type": "systemic::IValueType<float>",
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"description": "\u041d\u0438\u0436\u043d\u0435\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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},
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{
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"id": 180109,
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"index": 8,
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"multi_edges": true,
|
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"position": 2,
|
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"socket_type": 2,
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"link_id": 71,
|
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"text": "Force Feedforward",
|
|
"mode": "input",
|
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"object": "resource",
|
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"true_type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
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"type": "systemic::IValueType<control::PhaseSpacePoint<float>>",
|
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"description": "\u0422\u0440\u0430\u043a\u0442 \u043f\u0440\u044f\u043c\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u043c."
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},
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{
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"id": 180110,
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"index": 9,
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"multi_edges": true,
|
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"position": 2,
|
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"socket_type": 2,
|
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"link_id": 68,
|
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"text": "Force Torque up Limit",
|
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"mode": "input",
|
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"object": "resource",
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"true_type": "systemic::IValueType<float>",
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"type": "systemic::IValueType<float>",
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"description": "\u0412\u0435\u0440\u0445\u043d\u0435\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u0435 \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u043c\u043e\u043c\u0435\u043d\u0442\u0430 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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},
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{
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"id": 180111,
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"index": 10,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 70,
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"text": "Force Inertia",
|
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"mode": "input",
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"object": "resource",
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"true_type": "systemic::IValueType<float>",
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"type": "systemic::IValueType<float>",
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"description": "\u041f\u0440\u0438\u0432\u0435\u0434\u0435\u043d\u043d\u044b\u0439 \u043c\u043e\u043c\u0435\u043d\u0442 \u0438\u043d\u0435\u0440\u0446\u0438\u0438 \u0441\u0438\u0441\u0442\u0435\u043c\u044b."
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}
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],
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"content": {
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"id": 139948593738320
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},
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"alias": "",
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"comment": "",
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"params": {},
|
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"cpu_id": 0,
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"graph": "ForceController.json",
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"offset": 60
|
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},
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{
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"id": 8,
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"enable": true,
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"is_invalid": true,
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"title": "RampSpeed",
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"pos_x": -756.8681640624997,
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"pos_y": -763.3369140624997,
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"inputs": [
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{
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"multi_edges": false,
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"position": 0,
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"socket_type": 1,
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"link_id": -1,
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"text": "Rotor Speed",
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"mode": "output",
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"object": "value",
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"true_type": "none",
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"type": "float",
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"description": "\u0422\u0435\u043a\u0443\u0449\u0430\u044f \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u0435, \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u0443\u0435\u043c\u043e\u0435 \u0438\u043d\u0438\u0446\u0438\u0430\u043b\u0438\u0437\u0430\u0446\u0438\u0438 \u0438\u0441\u0445\u043e\u0434\u043d\u043e\u0439 \u0442\u043e\u0447\u043a\u0438."
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}
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],
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"outputs": [
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{
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"id": 80101,
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"index": 0,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 72,
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"text": "Ramp Speed",
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"mode": "input",
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"object": "resource",
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"true_type": "processing::acs::RampGeneration1stOrderProcess",
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"type": "processing::acs::PhaseSpaceToPhaseSpaceUnitInterface",
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"description": "\u041f\u0440\u043e\u0446\u0435\u0441\u0441 \u043f\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f \u0437\u0430\u0434\u0430\u043d\u043d\u043e\u0433\u043e \u0437\u043d\u0430\u0447\u0435\u043d\u0438\u044f."
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}
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],
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"content": {
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"id": 139948593450432
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "RampSpeed.json",
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"offset": 71
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},
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{
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"id": 9,
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"enable": true,
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"is_invalid": true,
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"title": "ForceControllerDiagnostic",
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"pos_x": -172.5087890625,
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"pos_y": -757.3369140625001,
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"inputs": [
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{
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"id": 90001,
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"multi_edges": false,
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"position": 0,
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"socket_type": 2,
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"link_id": 66,
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"text": "Diagnostic",
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"mode": "output",
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"object": "dynamic",
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"true_type": "none",
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"type": "control::regulator::ForceController",
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"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0443\u0441\u0438\u043b\u0438\u044f."
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}
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],
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"outputs": [],
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"content": {
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "ForceControllerDiagnostic.json",
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"offset": 74
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},
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{
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"id": 10,
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"enable": true,
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"is_invalid": false,
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"title": "SpeedController",
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"pos_x": -1247.583007812499,
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"pos_y": -486.8164062499999,
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"inputs": [],
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"outputs": [
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{
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"id": 100101,
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"multi_edges": true,
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"position": 2,
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"socket_type": 2,
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"link_id": 83,
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"text": "Speed Regulator",
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"mode": "input",
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"object": "resource",
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"true_type": "control::regulator::SpeedController",
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"type": "control::regulator::SpeedController",
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"description": "\u0420\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u0438 \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f."
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}
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],
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"content": {
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"id": 139948593460368
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},
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"alias": "",
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"comment": "",
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"params": {},
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"cpu_id": 0,
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"graph": "SpeedController.json",
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"offset": 82
|
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}
|
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],
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"edges": [
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{
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"start": 30101,
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{
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{
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{
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