# SWEEP

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

## Format

$\text{Sweep}\left(x,A,{x}_{0},{f}_{0},{x}_{1},{f}_{1},{d}_{x}\right)$

## 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.
${x}_{0}$
The $x$ value at which the SWEEP function begins.
${f}_{0}$
The desired value for the initial frequency of the sinusoidal function.
${x}_{1}$
The $x$ value at which the SWEEP function ends.
${f}_{1}$
The desired value for the final frequency of the sinusoidal function.
${d}_{x}$
The $x$ interval over which the SWEEP function becomes fully active.

(1)

## 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"
/>