loadrt comp count=4
loadrt or2 count=1

# Joint 0 = X axis, home switch is on negative end
# Joint 1 = Y1 axis, home switch is on negative end
# Joint 2 = Z axis, home switch is on positive end
# Joint 3 = Y2 axis, home switch is on negative end
net J0homeswpos => comp.0.in1
net J1homeswpos => comp.1.in1
net J2homeswpos => comp.2.in0
net J3homeswpos => comp.3.in1

sets J0homeswpos -0.1
sets J1homeswpos -0.1
sets J2homeswpos 0.1
sets J3homeswpos -0.1

net J0pos => comp.0.in0
net J1pos => comp.1.in0
net J2pos => comp.2.in1
net J3pos => comp.3.in0

setp comp.0.hyst .02
setp comp.1.hyst .02
setp comp.2.hyst .02
setp comp.3.hyst .02

# the X and Z joints share a home switch
# the Y joints each have their own home switches
net J0homesw <= comp.0.out
net J1homesw <= comp.1.out => axis.1.home-sw-in
net J2homesw <= comp.2.out
net J3homesw <= comp.3.out => axis.3.home-sw-in

net J0homesw => or2.0.in0
net J2homesw => or2.0.in1
net J0.J1homesw or2.0.out => axis.0.home-sw-in axis.2.home-sw-in


addf comp.0 servo-thread
addf comp.1 servo-thread
addf comp.2 servo-thread
addf comp.3 servo-thread

addf or2.0 servo-thread