# core HAL config file for simulation - 6 axis

# load RT modules
loadrt genserkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD num_joints=[TRAJ]AXES

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

# create HAL signals for position commands from motion module
net J0pos <= axis.0.motor-pos-cmd
net J1pos <= axis.1.motor-pos-cmd
net J2pos <= axis.2.motor-pos-cmd
net J3pos <= axis.3.motor-pos-cmd
net J4pos <= axis.4.motor-pos-cmd
net J5pos <= axis.5.motor-pos-cmd


# loop position commands back to motion module feedback
net J0pos => axis.0.motor-pos-fb
net J1pos => axis.1.motor-pos-fb
net J2pos => axis.2.motor-pos-fb
net J3pos => axis.3.motor-pos-fb
net J4pos => axis.4.motor-pos-fb
net J5pos => axis.5.motor-pos-fb

# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

loadusr -W puma560gui

setp genserkins.A-0 0
setp genserkins.A-1 0
setp genserkins.A-2 17
setp genserkins.A-3 0
setp genserkins.A-4 0
setp genserkins.A-5 0

setp genserkins.ALPHA-0 0 
setp genserkins.ALPHA-1 1.570796326 
setp genserkins.ALPHA-2 0 
setp genserkins.ALPHA-3 1.570796326 
setp genserkins.ALPHA-4 -1.570796326 
setp genserkins.ALPHA-5 1.570796326 

setp genserkins.D-0 26.45
setp genserkins.D-1 -5.5
setp genserkins.D-2 0
setp genserkins.D-3 17.05
setp genserkins.D-4 0 
setp genserkins.D-5 2.2


loadrt scale count=6

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

net J0pos scale.0.in
net J1pos scale.1.in
net J2pos scale.2.in
net J3pos scale.3.in
net J4pos scale.4.in
net J5pos scale.5.in

setp scale.0.gain 1
setp scale.1.gain 1
setp scale.2.gain 1
setp scale.3.gain 1
setp scale.4.gain 1
setp scale.5.gain 1

net J0scaled scale.0.out puma560gui.joint1
net J1scaled scale.1.out puma560gui.joint2
net J2scaled scale.2.out puma560gui.joint3
net J3scaled scale.3.out puma560gui.joint4
net J4scaled scale.4.out puma560gui.joint5
net J5scaled scale.5.out puma560gui.joint6