Kod: Zaznacz cały

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
loadrt classicladder_rt
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0
loadrt lut5

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf lut5.0 servo-thread
net spindle-cmd-rpm     <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps     <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed    => spindle.0.at-speed
# net dout-00 <= motion.digital-out-00
# net dout-01 <= motion.digital-out-01

net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir            => parport.0.pin-03-out
net ystep           => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir            => parport.0.pin-05-out
net dout-00 classicladder.0.out-01 =>parport.0.pin-06-out
net dout-01 classicladder.0.out-02 =>parport.0.pin-07-out
net xenable         => parport.0.pin-14-out
net estop-ext       <= parport.0.pin-10-in
net all-limit-home  <= parport.0.pin-11-in-not
net both-v          <= parport.0.pin-12-in
net min-u parport.0.pin-13-in => classicladder.0.in-01
net max-u parport.0.pin-15-in => classicladder.0.in-02

setp lut5.0.function 0x10000
net all-limit-home => lut5.0.in-4
net all-limit <= lut5.0.out
net homing-x <= joint.0.homing => lut5.0.in-0
net homing-z <= joint.1.homing => lut5.0.in-1