# halfile to connect a moveoff.comp for axis gui examples
# This halfile modifies the connections made in core_sim.hal
# to add a moveoff component and addfs its functions

# This halfile must follow core_sim.hal

# moveoff offsetting component (use names=mv is required):
loadrt moveoff names=mv
# addf the moveoff funcs in correct sequence:
addf mv.write-outputs servo-thread 3
addf mv.read-inputs   servo-thread 1

# modify connections set in core_sim.hal
unlinkp joint.0.motor-pos-cmd
unlinkp joint.1.motor-pos-cmd
unlinkp joint.2.motor-pos-cmd

unlinkp joint.0.motor-pos-fb
unlinkp joint.1.motor-pos-fb
unlinkp joint.2.motor-pos-fb

# connect motor-pos-cmd pins to the component:
net Xpos joint.0.motor-pos-cmd => mv.pos-0
net Ypos joint.1.motor-pos-cmd => mv.pos-1
net Zpos joint.2.motor-pos-cmd => mv.pos-2

# generated positions with offsets ADDED are
# 'short circuited' to the feedback input pins:
net mx:plus mv.pos-plusoffset-0 => mv.fb-0
net my:plus mv.pos-plusoffset-1 => mv.fb-1
net mz:plus mv.pos-plusoffset-2 => mv.fb-2

# synthesized feedback values with offsets SUBTRACTED
# are sent back to motion:
net mx:fb mv.fb-minusoffset-0 => joint.0.motor-pos-fb
net my:fb mv.fb-minusoffset-1 => joint.1.motor-pos-fb
net mz:fb mv.fb-minusoffset-2 => joint.2.motor-pos-fb

# example setting global inputs from ini file:
setp mv.epsilon              [MOVEOFF]EPSILON
setp mv.waypoint-sample-secs [MOVEOFF]WAYPOINT_SAMPLE_SECS
setp mv.waypoint-threshold   [MOVEOFF]WAYPOINT_THRESHOLD

# offset rates from ini file:
setp mv.offset-vel-0 [MOVEOFF_0]MAX_VELOCITY
setp mv.offset-vel-1 [MOVEOFF_1]MAX_VELOCITY
setp mv.offset-vel-2 [MOVEOFF_2]MAX_VELOCITY

# offset accels from ini file:
setp mv.offset-accel-0 [MOVEOFF_0]MAX_ACCELERATION
setp mv.offset-accel-1 [MOVEOFF_1]MAX_ACCELERATION
setp mv.offset-accel-2 [MOVEOFF_2]MAX_ACCELERATION

# offset min, max limits
setp mv.offset-min-0 [MOVEOFF_0]MIN_LIMIT
setp mv.offset-min-1 [MOVEOFF_1]MIN_LIMIT
setp mv.offset-min-2 [MOVEOFF_2]MIN_LIMIT

setp mv.offset-max-0 [MOVEOFF_0]MAX_LIMIT
setp mv.offset-max-1 [MOVEOFF_1]MAX_LIMIT
setp mv.offset-max-2 [MOVEOFF_2]MAX_LIMIT

# overall enable for the component:
# 1 ==> enabled as soon as apply-offsets asserted
# 0 ==> external control of move-enable required
setp mv.move-enable 0

# offset values (set as required with your gui)
setp mv.offset-in-0 0
setp mv.offset-in-1 0
setp mv.offset-in-2 0