# HAL file for sampling motion heading data

loadrt sampler depth=400 cfg=ssfffffffbff

# disable sampler before adding the function
setp sampler.0.enable 0

addf sampler.0 servo-thread

# Net pins to record to the sampler inputs
net line-number    motion.interp.line-number    => sampler.0.pin.0
net motion-type    motion.interp.motion-type    => sampler.0.pin.1
net feedrate       motion.interp.feedrate       => sampler.0.pin.2
net arc-radius     motion.interp.arc-radius     => sampler.0.pin.3
net arc-center-x   motion.interp.arc-center-x   => sampler.0.pin.4
net arc-center-y   motion.interp.arc-center-y   => sampler.0.pin.5
net arc-center-z   motion.interp.arc-center-z   => sampler.0.pin.6
net heading        motion.interp.heading        => sampler.0.pin.7
net normal-heading motion.interp.normal-heading => sampler.0.pin.8
net iscircle       motion.interp.iscircle       => sampler.0.pin.9
net x-pos-fb       joint.0.pos-fb               => sampler.0.pin.10
net y-pos-fb       joint.1.pos-fb               => sampler.0.pin.11