# HAL config file for Pico Systems UPC board
#

# connect position feedback signals to encoders
net Xpos-fb <= ppmc.0.encoder.00.position
net Ypos-fb <= ppmc.0.encoder.01.position
net Zpos-fb <= ppmc.0.encoder.02.position
net Apos-fb <= ppmc.0.encoder.03.position

# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [AXIS_0]INPUT_SCALE
setp ppmc.0.encoder.01.scale [AXIS_1]INPUT_SCALE
setp ppmc.0.encoder.02.scale [AXIS_2]INPUT_SCALE
setp ppmc.0.encoder.03.scale [AXIS_3]INPUT_SCALE

# connect PID output signals to step generators
net Xoutput => ppmc.0.DAC.00.value
net Youtput => ppmc.0.DAC.01.value
net Zoutput => ppmc.0.DAC.02.value
net Aoutput => ppmc.0.DAC.03.value

# set output scaling from ini file
setp ppmc.0.DAC.00.scale [AXIS_0]OUTPUT_SCALE
setp ppmc.0.DAC.01.scale [AXIS_1]OUTPUT_SCALE
setp ppmc.0.DAC.02.scale [AXIS_2]OUTPUT_SCALE
setp ppmc.0.DAC.03.scale [AXIS_3]OUTPUT_SCALE

# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
net Xoutput ddt.0.in
net Xpos-fb ddt.1.in