SWEEP

The SWEEP function evaluates a sinusoidal function that has constant amplitude but linearly increasing frequency at a specific x value.

Format

Sweep(x,A,x0,f0,x1,f1,dx)

Arguments

x
The independent variable. For example, to specify time as the independent variable, specify x as TIME
A
The amplitude of the sinusoidal function.
x0
The x value at which the SWEEP function begins.
f0
The desired value for the initial frequency of the sinusoidal function.
x1
The x value at which the SWEEP function ends.
f1
The desired value for the final frequency of the sinusoidal function.
dx
The x interval over which the SWEEP function becomes fully active.

Definition

SWEEP = STEP5(x,0,0,dx,1)×Asin(2πfx)where,f ={f0,               if       x≤x0f0+12Δf˜x,  if x0<x≤x1f1,              if       x>x1and where,Δf=(f1−f0)˜x=(x−x0)(x1−x0)

Example

<Motion_Joint
     id                  = "301001"
     label               = "Motion 0"
     type                = "EXPRESSION"
     val_type            = "D"
     expr                = "SWEEP(TIME,10,1,1,5,10,0.1)"
     joint_id            = "301001"
     motion_type         = "R"
  />