maurice.hal

loadusr -W lcec_conf maurice.xml
loadrt lcec
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf lcec.write-all servo-thread

net ec_up lcec.state-op => iocontrol.0.emc-enable-in => lcec.0.0.drivecontrol-0 => lcec.0.1.drivecontrol-0

setp lcec.0.0.drivecontrol-1 1
setp lcec.0.0.drivecontrol-2 1
setp lcec.0.1.drivecontrol-1 1
setp lcec.0.1.drivecontrol-2 1

net Xachse_AF joint.0.amp-enable-out => lcec.0.0.drivecontrol-3 
net Xachse_fb lcec.0.0.pos => joint.0.motor-pos-fb
net Xachse_cmd joint.0.motor-pos-cmd => lcec.0.0.poscommand

net Zachse_AF joint.1.amp-enable-out => lcec.0.1.drivecontrol-3 
net Zachse_fb lcec.0.1.pos => joint.2.motor-pos-fb
net Zachse_cmd joint.2.motor-pos-cmd => lcec.0.1.poscommand