dro.hal

loadrt classicladder_rt
loadrt mult2 count=3

addf classicladder.0.refresh servo-thread
addf mult2.0 servo-thread
addf mult2.1 servo-thread
addf mult2.2 servo-thread

#loadusr -w classicladder --modmaster --nogui dro.clp
loadusr classicladder --modmaster dro.clp

# floatin-00 -> xi0 in dro.clp
# floatin-01 -> xi1 in dro.clp
setp mult2.0.in1 1000
net dro-xi0	halui.axis.x.pos-relative	=>	classicladder.0.floatin-00	mult2.0.in0
net dro-xi1	mult2.0.out			=>	classicladder.0.floatin-01

# floatin-02 -> yi0 in dro.clp
# floatin-03 -> yi1 in dro.clp
setp mult2.1.in1 1000
net dro-yi0	halui.axis.x.pos-relative	=>	classicladder.0.floatin-02	mult2.1.in0
net dro-yi1	mult2.1.out			=>	classicladder.0.floatin-03

# floatin-04 -> zi0 in dro.clp
# floatin-05 -> zi1 in dro.clp
setp mult2.2.in1 1000
net dro-zi0	halui.axis.x.pos-relative	=>	classicladder.0.floatin-04	mult2.2.in0
net dro-zi1	mult2.2.out			=>	classicladder.0.floatin-05