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# core HAL config file for servos
# first load the core RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# PID module, for three PID loops
loadrt pid num_chan=3
# hook functions to realtime thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
# connect position feedback
net Xpos-fb joint.0.motor-pos-fb => pid.0.feedback
net Ypos-fb joint.1.motor-pos-fb => pid.1.feedback
net Zpos-fb joint.2.motor-pos-fb => pid.2.feedback
# create PID to DAC output signals
net Xoutput <= pid.0.output
net Youtput <= pid.1.output
net Zoutput <= pid.2.output
# set PID loop output limits to +/-1.00
setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
# set PID loop gains from INI file
# the values below come from the INI
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
# deadband should be just over 1 count
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
# deadband should be just over 1 count
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
# deadband should be just over 1 count
setp pid.2.deadband [JOINT_2]DEADBAND
# position command signals
net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
# joint enable signals
net Xenable joint.0.amp-enable-out => pid.0.enable
net Yenable joint.1.amp-enable-out => pid.1.enable
net Zenable joint.2.amp-enable-out => pid.2.enable
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