# HAL config file to simulate limit switches using window comparators
#
# first install nine comparators
loadrt wcomp count=9

# add comparators to servo thread so they will be evaluated
# every servo period
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
addf wcomp.6 servo-thread
addf wcomp.7 servo-thread
addf wcomp.8 servo-thread

# connect position feedback from step generators
# to window comparators
net Xpos-fb => wcomp.0.in
net Xpos-fb => wcomp.1.in
net Xpos-fb => wcomp.2.in
net Ypos-fb => wcomp.3.in
net Ypos-fb => wcomp.4.in
net Ypos-fb => wcomp.5.in
net Zpos-fb => wcomp.6.in
net Zpos-fb => wcomp.7.in
net Zpos-fb => wcomp.8.in

# connect simulated switch outputs to motion controller
net Xminlim wcomp.0.out => axis.0.neg-lim-sw-in
net Xmaxlim wcomp.1.out => axis.0.pos-lim-sw-in
net Xhome wcomp.2.out => axis.0.home-sw-in

net Yminlim wcomp.3.out => axis.1.neg-lim-sw-in
net Ymaxlim wcomp.4.out => axis.1.pos-lim-sw-in
net Yhome wcomp.5.out => axis.1.home-sw-in

net Zminlim wcomp.6.out => axis.2.neg-lim-sw-in
net Zmaxlim wcomp.7.out => axis.2.pos-lim-sw-in
net Zhome wcomp.8.out => axis.2.home-sw-in

# configure the points at which the simulated switches trip
# X axis first
# set min limit switch to trip at -10.2, release at -1000
setp wcomp.0.max -10.2
setp wcomp.0.min -1000
# set max limit switch to trip at +10.2, release at +10.21
setp wcomp.1.min 10.20
setp wcomp.1.max 10.21
# set home switch to trip at 9.5 and release at 9.75
setp wcomp.2.min 9.5
setp wcomp.2.max 9.75

# Y axis
# set min limit switch to trip at -10.2, release at -1000
setp wcomp.3.max -10.2
setp wcomp.3.min -1000
# set max limit switch to trip at +10.2, release at +10.21
setp wcomp.4.min 10.20
setp wcomp.4.max 10.21
# set home switch to trip at 9.5 and release at 9.75
setp wcomp.5.min 9.5
setp wcomp.5.max 9.75

# Z axis
# set min limit switch to trip at -2.1, release at -1000
setp wcomp.6.max -2.1
setp wcomp.6.min -1000
# set max limit switch to trip at +4.05,release at +5
setp wcomp.7.min 4.05
setp wcomp.7.max 5
# set home switch to trip at 3.9 and release at 4.1
setp wcomp.8.min 3.9
setp wcomp.8.max 4.1