# HAL config file to check vel/acc constraints
#
loadrt wcomp count=6

addf wcomp.0 servo-thread
addf wcomp.1 servo-thread
addf wcomp.2 servo-thread
addf wcomp.3 servo-thread
addf wcomp.4 servo-thread
addf wcomp.5 servo-thread

net Xacc => wcomp.0.in
net Xvel => wcomp.1.in
net Yacc => wcomp.2.in
net Yvel => wcomp.3.in
net Zacc => wcomp.4.in
net Zvel => wcomp.5.in

net acc-ok-x <= wcomp.0.out
net vel-ok-x <= wcomp.1.out
net acc-ok-y <= wcomp.2.out
net vel-ok-y <= wcomp.3.out
net acc-ok-z <= wcomp.4.out
net vel-ok-z <= wcomp.5.out

setp wcomp.0.max 20.001
setp wcomp.0.min -20.001
setp wcomp.1.max 1.2001
setp wcomp.1.min -1.2001
setp wcomp.2.max 20.001
setp wcomp.2.min -20.001
setp wcomp.3.max 1.2001
setp wcomp.3.min -1.2001
setp wcomp.4.max 20.001
setp wcomp.4.min -20.001
setp wcomp.5.max 1.2001
setp wcomp.5.min -1.2001

loadrt match8 count=1

addf match8.0 servo-thread

net acc-ok-x => match8.0.a0
setp match8.0.b0 1
net vel-ok-x => match8.0.a1
setp match8.0.b1 1
net acc-ok-y => match8.0.a2
setp match8.0.b2 1
net vel-ok-y => match8.0.a3
setp match8.0.b3 1
net acc-ok-z => match8.0.a4
setp match8.0.b4 1
net vel-ok-z => match8.0.a5
setp match8.0.b5 1

setp match8.0.a6 0
setp match8.0.a7 0
setp match8.0.b6 0
setp match8.0.b7 0

setp match8.0.in 1

net constraints-ok <= match8.0.out