my-foam.hal

# Generated by stepconf 1.1 at Mon Sep  3 16:24:53 2018
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt stepgen step_type=0,0,0,0

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

#net estop-out       => hal_gpio.0.pin-01-out
#net min-home-x      <= hal_gpio.0.pin-10-in
#net min-home-y      <= hal_gpio.0.pin-11-in
#net min-home-u      <= hal_gpio.0.pin-12-in
#net min-home-v      <= hal_gpio.0.pin-13-in

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 62500
setp stepgen.0.dirsetup 62500
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
#net min-home-x => joint.0.home-sw-in
#net min-home-x => joint.0.neg-lim-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 62500
setp stepgen.1.dirsetup 62500
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
#net min-home-y => joint.1.home-sw-in
#net min-home-y => joint.1.neg-lim-sw-in

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 62500
setp stepgen.2.dirsetup 62500
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net upos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net upos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net ustep <= stepgen.2.step
net udir <= stepgen.2.dir
net uenable joint.2.amp-enable-out => stepgen.2.enable
#net min-home-u => joint.2.home-sw-in
#net min-home-u => joint.2.neg-lim-sw-in

setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 62500
setp stepgen.3.dirsetup 62500
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net vpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net vpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net vstep <= stepgen.3.step
net vdir <= stepgen.3.dir
net venable joint.3.amp-enable-out => stepgen.3.enable
#net min-home-v => joint.3.home-sw-in
#net min-home-v => joint.3.neg-lim-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in