Arm type ATC component?

terkaa wrote:

Is it a good practice to add this and carousel to servo-thread?

Yes. There is not a great deal of point putting things like this in the base thread. How far can the tool changer move in 1mS?
Also, if the GPIO is via a Mesa sserial card the inputs only change on a 1mS raster too.

terkaa wrote:

Ok. I have been figuring out how to implement step_forward toggle. Is it ok to define step_forward as param rw? So it can be toggled outside code and within code. Or is there some other option?

Parameters can't be connected to HAL nets, so won't work for a button.

Anything to be connected to a button needs to be a pin. You can use the action of a pin to change a parameter, and you can use 'ordinary' variables too, which have no HAL visibility.