hal

loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
loadrt stepgen step_type=6

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.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
addf pwmgen.update servo-thread

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 Xen joint.0.amp-enable-out => stepgen.0.enable

net XPA <= stepgen.0.phase-A
net XPB <= stepgen.0.phase-B
net XPC <= stepgen.0.phase-C
net XPD <= stepgen.0.phase-D

setp stepgen.0.position-scale [JOINT_0]SCALE

setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL