simulation.hal

loadrt wcomp names=comp_x,comp_y,comp_z

# Unlink hal pins used for REAL home/limit switches
unlinkp hm2_7i76e.0.7i76.0.0.input-01-not
unlinkp hm2_7i76e.0.7i76.0.0.input-04-not
unlinkp hm2_7i76e.0.7i76.0.0.input-06-not

unlinkp hm2_7i76e.0.7i76.0.0.input-02-not
unlinkp hm2_7i76e.0.7i76.0.0.input-03-not
unlinkp hm2_7i76e.0.7i76.0.0.input-05-not

sets max-x 0
sets min-y 0
sets min-z 0 

setp comp_x.max -0.5
setp comp_x.min -1.0

setp comp_y.max 0.5
setp comp_y.min 0.0

setp comp_z.max 0.5
setp comp_z.min 0.0

net x-pos-cmd => comp_x.in
net y-pos-cmd => comp_y.in
net z-pos-cmd => comp_z.in

net min-home-x <= comp_x.out
net max-home-y <= comp_y.out 
net max-home-z <= comp_z.out

addf comp_x servo-thread
addf comp_y servo-thread
addf comp_z servo-thread