DSP Robotics Support

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#--------------------------------------------------------------
#--------------------------------------------------------------
def init
	@ntick = 0
	@counter = 0
	@main_freq = 0
	@ticking = false
	@min_delay = 0.2

	#input "state", true, time+1
end
#--------------------------------------------------------------
def freq_setup
	if @freq <= 0
		@main_freq = 0
	else
		_mfreq = @period.to_f / @freq.to_f
		if _mfreq < 0.1 then
			_mfreq = 0.1
		end
		@main_freq = _mfreq
	end
end
#--------------------------------------------------------------
def event i,v,t
	if (i=="freq" || i=="period" || i=="state")
		watch "f", "lol"
		clearEvents
		freq_setup()
		watch "mfreq", @main_freq
		if @state && @main_freq > 0
			@ticking = true
			input 100,nil,(t+@main_freq)
		else
			@ticking = false
		end
	end
	case i
	when 100 #main_timer
		if @state
			watch "main_timer", t
			input 100,nil,t+@main_freq
			
			rnd = @min_delay + rand((@main_freq.to_f-@min_delay)*100.0)/100.0
			watch "rnd", rnd
			input 101,nil,(t+rnd)
		else
			@ticking = false
		end
	when 101 #event
		output "out"
		
		output "led", true
		input 102,nil,t+0.1
		
		@counter = @counter + 1
		output "counter", @counter
	when 102 #led off
		output "led", false
	end
end