rendered paste body# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
# hostmot2 driver
loadrt hostmot2
# debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
# read everything
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
# motion
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# standard components
loadrt pid num_chan=3
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
#various stuff - mainly spindle/gearchange related
loadrt mux4 names=mpgmux,spinmux1,spinmux2
addf mpgmux servo-thread
addf spinmux1 servo-thread
addf spinmux2 servo-thread
loadrt lowpass names=spin-lpf
addf spin-lpf servo-thread
loadrt limit2 names=spin-alimit,spin-limit1,spin-limit2,spin-limit3
addf spin-alimit servo-thread
addf spin-limit1 servo-thread
addf spin-limit2 servo-thread
addf spin-limit3 servo-thread
loadrt mult2 names=rps2rpm,spingain
addf rps2rpm servo-thread
addf spingain servo-thread
loadrt abs count=2
addf abs.0 servo-thread
addf abs.1 servo-thread
loadrt near names=spin-near0,spin-nearspeed
addf spin-near0 servo-thread
addf spin-nearspeed servo-thread
#classicladder
loadrt classicladder_rt numPhysInputs=30 numPhysOutputs=30 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10
addf classicladder.0.refresh servo-thread
#output everything
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
#load user space stuff
loadusr classicladder colchester.clp
loadusr halscope