# sample file pulls all load commands into a single file
# when emc2 starts it loads iocontrol

# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# next load the PID module, for four PID loops
loadrt pid num_chan=4

# install Universal PWM Controller driver
loadrt hal_ppmc

# make some signals for the scope for tuning.
loadrt ddt count=4
loadrt estop_latch count=1
loadrt and2 count=1

# set up the realtime thread
# read inputs first
addf ppmc.0.read servo-thread
# then run the motion controller
addf motion-command-handler servo-thread
addf and2.0 servo-thread
addf estop-latch.0 servo-thread
addf motion-controller servo-thread
# then the PID loops
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
# write outputs last
addf ppmc.0.write servo-thread