# first load the core RT modules that will be needed
# kinematics
loadrt trivkins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES

#loadrt pluto_servo # ioaddr=0xC400
loadrt pluto_servo ioaddr=0x9000 ioaddr_hi=0 epp_wide=1

addf pluto-servo.read        servo-thread
addf motion-command-handler  servo-thread
addf motion-controller       servo-thread
addf pluto-servo.write       servo-thread

# create a signal for the estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool prepare loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared

#### Spindle Stuff ####
setp pluto-servo.pwm.0.scale  3000
setp pluto-servo.pwm.0.max-dc 0.95
setp pluto-servo.pwm.0.pwmdir 1

net SpindleEable    motion.spindle-on        => pluto-servo.pwm.0.enable
net SpindleSpeedCMD motion.spindle-speed-out => pluto-servo.pwm.0.value
net SpindleForward  motion.spindle-forward # Just here to put a button on AXIS
net SpindleReverse  motion.spindle-reverse # Just here to put a button on AXIS