Switching and routing

Blocks that select between signals, hold a state or move a signal in time.

less than a minute

ChannelSelector

ChannelSelector stores a set of values and fades its output between them as the selection changes.

ConfigurationSelector

ConfigurationSelector holds up to five matrices of the same size and publishes whichever one you select.

SimpleSwitch

SimpleSwitch cross-fades between two sets of signals.

SimpleSwitch3D

SimpleSwitch3D cross-fades between two sets of signals and their first and second derivatives.

SoftSwitch cross-fades between two sets of signals and their first and second derivatives, and can work out its own fade time from velocity, acceleration and jerk limits instead of taking a duration.

LevelSwitch

LevelSwitch compares one signal against one level and publishes two complementary flags.

FlipFlop

FlipFlop holds a true/false state that is flipped by holding its input true for a configured time.

Delay

Delay holds a signal back by a whole number of task cycles and passes it on unchanged.

HostInModule

HostInModule is the entry point for a remote host commanding motion — a teleoperation link, a vision system, a hand controller.