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# components



loadrt pluto_servo epp_wide=1

loadrt siggen 

loadrt scope_rt 

loadrt threads name1=thread period1=1000000
loadrt scale 




# signals

# newsig siggen.0.cosine float

# links

# linkps pwmgen.0.value  siggen.0.cosine

# linkps siggen.0.cosine  sin

# paramet values









setp scale.0.gain 60

setp pluto-servo.encoder-2-scale 10160 

setp pluto-servo.pwm-0-enable 1

setp pluto-servo.pwm-1-enable 1

setp pluto-servo.pwm-2-enable 1

setp pluto-servo.pwm-3-enable 1

setp siggen.0.amplitude  1.00000e+00

setp siggen.0.frequency  .5

setp siggen.0.offset  0.00000e+00



# realtime thread/function links

addf siggen.0.update thread

addf pluto-servo.read thread

addf pluto-servo.write thread
addf scale.0 thread



linkpp siggen.0.cosine pluto-servo.pwm.0.value
linkpp scale.0.in pluto-servo.encoder.2.velocity


start

loadusr halscope
loadusr halmeter pin pluto-servo.encoder.2.position
loadusr halmeter pin scale.0.out

# loadusr -w halcmd -kf