# HAL config file for servos -- expanded from core_servo.hal
# for a full four axis setup
# create four position feedback signals
newsig Xpos-fb float
newsig Ypos-fb float
newsig Zpos-fb float
newsig Apos-fb float
# connect position feedback to PID loop
linksp Xpos-fb => pid.0.feedback
linksp Ypos-fb => pid.1.feedback
linksp Zpos-fb => pid.2.feedback
linksp Apos-fb => pid.3.feedback
# connect position feedback to motion module
linksp Xpos-fb => axis.0.motor-pos-fb
linksp Ypos-fb => axis.1.motor-pos-fb
linksp Zpos-fb => axis.2.motor-pos-fb
linksp Apos-fb => axis.3.motor-pos-fb
# create PID to DAC output signals
newsig Xoutput float
newsig Youtput float
newsig Zoutput float
newsig Aoutput float
# connect output signals to output of PID loops
linksp Xoutput <= pid.0.output
linksp Youtput <= pid.1.output
linksp Zoutput <= pid.2.output
linksp Aoutput <= pid.3.output
# set PID loop output limits to +/-1.00
setp pid.0.maxoutput [AXIS_0]PID_MAX_VEL
setp pid.1.maxoutput [AXIS_1]PID_MAX_VEL
setp pid.2.maxoutput [AXIS_2]PID_MAX_VEL
setp pid.3.maxoutput [AXIS_3]PID_MAX_VEL
# set PID loop gains
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.3.Pgain [AXIS_3]P
setp pid.3.Igain [AXIS_3]I
setp pid.3.Dgain [AXIS_3]D
setp pid.3.bias [AXIS_3]BIAS
setp pid.3.FF0 [AXIS_3]FF0
setp pid.3.FF1 [AXIS_3]FF1
setp pid.3.FF2 [AXIS_3]FF2
setp pid.3.deadband [AXIS_3]DEADBAND
# create four position command signals
newsig Xpos-cmd float
newsig Ypos-cmd float
newsig Zpos-cmd float
newsig Apos-cmd float
# connect position commands to motion controller
linksp Xpos-cmd <= axis.0.motor-pos-cmd
linksp Ypos-cmd <= axis.1.motor-pos-cmd
linksp Zpos-cmd <= axis.2.motor-pos-cmd
linksp Apos-cmd <= axis.3.motor-pos-cmd
# connect position commands to PID input
linksp Xpos-cmd => pid.0.command
linksp Ypos-cmd => pid.1.command
linksp Zpos-cmd => pid.2.command
linksp Apos-cmd => pid.3.command
# create bit signals to enable/disable the PID loops
newsig Xenable bit
newsig Yenable bit
newsig Zenable bit
newsig Aenable bit
# connect the signals to the motion controller
linksp Xenable <= axis.0.amp-enable-out
linksp Yenable <= axis.1.amp-enable-out
linksp Zenable <= axis.2.amp-enable-out
linksp Aenable <= axis.3.amp-enable-out
# connect the signals to the PID blocks
linksp Xenable => pid.0.enable
linksp Yenable => pid.1.enable
linksp Zenable => pid.2.enable
linksp Aenable => pid.3.enable