# core HAL config file for simulation

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb

# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in