# Generated by stepconf at Sat Mar 13 15:20:58 201
# If you make changes to this file, they will be
# overwritten when you run stepconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0xec00 out 0e000 in"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
addf parport.1.read base-thread  # added for pendant
addf parport.1.write base-thread  # added for pendant


##################################
# for remote joypad              #
##################################
loadusr -W hal_input -KRAL Dual

loadrt and2 count=1
addf and2.0 servo-thread

net estop-ext0 parport.0.pin-10-in and2.0.in0  # Control Box Estop
net estop-ext1 parport.1.pin-15-in and2.0.in1  # Pendant Estop
#net estop-ext  parport.0.pin-10-in  # Control Box Estop
#net estop-ext parport.1.pin-15-in  # Pendant Estop
net estop-out <= iocontrol.0.user-enable-out
net estop-either and2.0.out iocontrol.0.emc-enable-in
#net estop-ext => iocontrol.0.emc-enable-in
net home-x <= parport.0.pin-11-in-not
net home-z <= parport.0.pin-12-in-not
net both-x <= parport.0.pin-13-in-not
net both-z <= parport.0.pin-15-in-not

##########################

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 33934
setp stepgen.0.dirsetup 33934
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp stepgen.1.position-scale [AXIS_0]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 33934
setp stepgen.1.dirsetup 33934
setp stepgen.1.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => axis.1.motor-pos-fb
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd stepgen.1.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
setp parport.0.pin-02-out-invert 1
setp parport.0.pin-03-out-invert 1
setp parport.0.pin-04-out-invert 1
#setp parport.0.pin-05-out-invert 1
net x1step  stepgen.0.step => parport.0.pin-02-out
net x1dir   stepgen.0.dir => parport.0.pin-03-out
net x2step  stepgen.1.step => parport.0.pin-04-out
net x2dir   stepgen.1.dir => parport.0.pin-05-out
net xenable axis.0.amp-enable-out => stepgen.0.enable stepgen.1.enable
net home-x => axis.0.home-sw-in
net both-x => axis.0.neg-lim-sw-in
net both-x => axis.0.pos-lim-sw-in

##############################

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0 
setp stepgen.2.dirhold 33934
setp stepgen.2.dirsetup 33934
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
setp parport.0.pin-06-out-invert 1
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net home-z => axis.2.home-sw-in
net both-z => axis.2.neg-lim-sw-in
net both-z => axis.2.pos-lim-sw-in





loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared