# This configuration uses classicladder for machine logic
# (load the realtime portion)
# these classicladder parameters need to be optimized after ladder completion
loadrt classicladder_rt numRungs=24 numBits=30 numWords=4 numTimers=5 numMonostables=10 numPhysInputs=50 numPhysOutputs=30 numArithmExpr=30 numSections=10
# We kick ladder into a thread at the slower servo rate rather than base rate
addf classicladder.0.refresh        servo-thread 1

# invoke the user part of CL to silently load the program
# later we will need to add the clp file mentioned below
# to the ini file so that we do not need to hardcode it here.
loadusr -w classicladder --nogui demo_step_cl.clp
# load the GUI aswell
# loadusr classicladder



# ################################################
# THREADS
# ################################################

addf hm2_[HOSTMOT2](BOARD).0.read          servo-thread
addf hm2_[HOSTMOT2](BOARD).1.read          servo-thread

addf motion-command-handler                servo-thread
addf motion-controller                     servo-thread

addf pid.0.do-pid-calcs                    servo-thread
addf pid.1.do-pid-calcs                    servo-thread
addf pid.2.do-pid-calcs                    servo-thread
addf pid.3.do-pid-calcs			   servo-thread

addf hm2_[HOSTMOT2](BOARD).0.write         servo-thread
addf hm2_[HOSTMOT2](BOARD).1.write         servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog  servo-thread
addf hm2_[HOSTMOT2](BOARD).1.pet_watchdog  servo-thread
addf abs.0				   servo-thread
addf gearshift16.0       		   servo-thread