loadrt sampler depth=1000 cfg=fffffffffb

net Xacc => sampler.0.pin.0
net Yacc => sampler.0.pin.1
net Zacc => sampler.0.pin.2
net Xvel => sampler.0.pin.3
net Yvel => sampler.0.pin.4
net Zvel => sampler.0.pin.5
net Xpos => sampler.0.pin.6
net Ypos => sampler.0.pin.7
net Zpos => sampler.0.pin.8

net constraints-ok => sampler.0.pin.9

net coord_mode <= motion.coord-mode => sampler.0.enable
addf sampler.0 servo-thread

loadusr halsampler -c 0 constraints.log