loadrt comp names=comp_x,comp_z

addf comp_x servo-thread
addf comp_z servo-thread

net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0

sets Xhomeswpos 1
sets Zhomeswpos 2

net Xpos => comp_x.in1
net Zpos => comp_z.in1

setp comp_x.hyst .02
setp comp_z.hyst .02

net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in