# corexy_by_hal.hal

# This halfile adapts a configuration using trvikins
# to implement corexy kinematics using the hal
# component: corexy_by_hal.

# This corexy method allows home switches to operate
# along the Cartesian X and Y coordinate motion.
# By contrast, when using corexykins kinematics, home
# switches operate according to motor positions for
# joints 0 and 1.

# show original signals for joints 0,1
show sig j0pos-cmd j1pos-cmd
show sig j0pos-fb  j1pos-fb

# remove original signals that connect
# pins for stepgens 0,1:
delsig j0pos-cmd
delsig j1pos-cmd
delsig j0pos-fb
delsig j1pos-fb

# implement corexy kinematics with hal component:
loadrt corexy_by_hal names=corexy_by_hal
addf   corexy_by_hal servo-thread

net :j0motor-cmd <= joint.0.motor-pos-cmd
net :j0motor-cmd => corexy_by_hal.j0-motor-pos-cmd
net :j0motor-cmd => j0home.cur-pos

net :j1motor-cmd <= joint.1.motor-pos-cmd
net :j1motor-cmd => corexy_by_hal.j1-motor-pos-cmd
net :j1motor-cmd => j1home.cur-pos

net :j0motor-fb <= corexy_by_hal.j0-motor-pos-fb
net :j0motor-fb => joint.0.motor-pos-fb

net :j1motor-fb <= corexy_by_hal.j1-motor-pos-fb
net :j1motor-fb => joint.1.motor-pos-fb

# new signals connecting pins for stepgens 0,1:
net :alpha-cmd <= corexy_by_hal.alpha-cmd
net :alpha-cmd => stepgen.0.position-cmd

net :beta-cmd => corexy_by_hal.beta-cmd
net :beta-cmd <= stepgen.1.position-cmd

net :alpha-fb  <= stepgen.0.position-fb
net :alpha-fb  => corexy_by_hal.alpha-fb

net :beta-fb  <= stepgen.1.position-fb
net :beta-fb  => corexy_by_hal.beta-fb

# show new signals:
show sig :*alpha*
show sig :*beta*