Miscellany

# components
loadusr hal_joystick -d /dev/input/js0 -p joypad
loadrt threads name1=fast fp1=0 period1=100000 name2=slow period2=500000000 
loadrt encoder num_chan=3 
loadrt sim_encoder num_chan=3 
# signals
# nets
net XA sim-encoder.0.phase-A => encoder.0.phase-A
net XB sim-encoder.0.phase-B => encoder.0.phase-B
net YA sim-encoder.1.phase-A => encoder.1.phase-A
net YB sim-encoder.1.phase-B => encoder.1.phase-B
net ZA sim-encoder.2.phase-A => encoder.2.phase-A
net ZB sim-encoder.2.phase-B => encoder.2.phase-B
net velX joypad.axis.0 => sim-encoder.0.speed
net velY joypad.axis.1 => sim-encoder.1.speed
net velZ joypad.axis.3 => sim-encoder.2.speed
net countX encoder.0.counts => axis.0.jog-counts
net countY encoder.1.counts => axis.1.jog-counts
net countZ encoder.2.counts => axis.2.jog-counts
# parameter values
setp encoder.0.position-scale            1
setp encoder.0.x4-mode         TRUE
setp encoder.1.position-scale            1
setp encoder.1.x4-mode         TRUE
setp encoder.2.position-scale            1
setp encoder.2.x4-mode         TRUE
setp encoder.capture-position.tmax            0
setp encoder.update-counters.tmax            0
setp sim-encoder.0.ppr     00000064
setp sim-encoder.0.scale            1
setp sim-encoder.1.ppr     00000064
setp sim-encoder.1.scale            1
setp sim-encoder.2.ppr     00000064
setp sim-encoder.2.scale            1
setp sim-encoder.make-pulses.tmax            0
setp sim-encoder.update-speed.tmax            0
setp axis.0.jog-enable TRUE
setp axis.1.jog-enable TRUE
setp axis.2.jog-enable TRUE
# realtime thread/function links
addf encoder.capture-position slow
addf sim-encoder.update-speed slow
addf encoder.update-counters fast
addf sim-encoder.make-pulses fast