Toma/Proma HAL for Mesa Board -Basics

net 1 joint.3.motor-pos-cmd position.in 
net 2 position.out stepgen.3.position-cmd 
net 3 stepgen.3.position-fb => joint.3.motor-pos-fb

component position "offset control between commanded position and postion feedback";

description 
"""

Postgui.hal connections

net 1 joint.3.motor-pos-cmd position.in 
net 2 position.out stepgen.3.position-cmd 
net 3 stepgen.3.position-fb => joint.3.motor-pos-fb

""";
 
author "Grotius CNC Machines";

license "GPLv2 or greater";

option singleton yes;

// Input Pins
pin in float in "input value connected to joint.3.motor-pos-cmd";
pin in bit torch_up "Connect to Proma up signal";
pin in bit torch_down "Connect to Proma down signal";
pin in bit arc_ok "Connect to Proma arc-ok signal";

// Output Pins
pin out float out "output value connected to stepgen.3.position-cmd ";

// Parameter 
//param rw float speed;

// Global Variables
variable float loop;

function _;

;;

#include "rtapi_math.h"

FUNCTION(_) {

   
   if(!arc_ok){ out = in; loop = 0;}

   if(arc_ok){
    
         if(arc_ok && torch_up){ out = in + loop; loop = loop + 0.001; }    // substract value 
      
         if(arc_ok && torch_down){ out = in + loop; loop = loop - 0.001;}   // extract value
  

   }
}