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loadrt comp names=comp_j0,comp_j1,comp_j2,comp_j3
loadrt or2 names=or_homesws
# 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_j0.in1
net J1homeswpos => comp_j1.in1
net J2homeswpos => comp_j2.in0
net J3homeswpos => comp_j3.in1
sets J0homeswpos -0.1
sets J1homeswpos -0.1
sets J2homeswpos 0.1
sets J3homeswpos -0.1
net J0pos => comp_j0.in0
net J1pos => comp_j1.in0
net J2pos => comp_j2.in1
net J3pos => comp_j3.in0
setp comp_j0.hyst .02
setp comp_j1.hyst .02
setp comp_j2.hyst .02
setp comp_j3.hyst .02
# the X and Z joints share a home switch
# the Y joints each have their own home switches
net J0homesw <= comp_j0.out
net J1homesw <= comp_j1.out => axis.1.home-sw-in
net J2homesw <= comp_j2.out
net J3homesw <= comp_j3.out => axis.3.home-sw-in
net J0homesw => or_homesws.in0
net J2homesw => or_homesws.in1
net J0.J1homesw or_homesws.out => axis.0.home-sw-in axis.2.home-sw-in
addf comp_j0 servo-thread
addf comp_j1 servo-thread
addf comp_j2 servo-thread
addf comp_j3 servo-thread
addf or_homesws servo-thread
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