Clearpath HLFB amp.joint.delay

net joint.X.amp-fault-in whatever_input_pin
That is all you need to add to hal file for each joint.

Do U replace this section
# HLFB is true when enabled *and* following
net hlfb_x  hm2_7i76e.0.7i76.0.0.input-16-not 
net hlfb_y  hm2_7i76e.0.7i76.0.0.input-17-not
net hlfb_y2 hm2_7i76e.0.7i76.0.0.input-18-not
net hlfb_z  hm2_7i76e.0.7i76.0.0.input-19-not
net hlfb-a  hm2_7i76e.0.7i76.0.0.input-20-not

With net joint.X.amp-fault-in whatever_input_pin

? Thanks 

net joint.X.amp-fault-in hm2_7i76e.0.7i76.0.0.input-16-not
etc...

made the changes but errors

Debug file information:
Note: Using POSIX realtime
HAL: ERROR: function 'and2.4' not found
./custom.hal:5: addf failed
18633
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

 

and2.n should be ranged from 0, not from 3, so
and2.0
and2.1
and2.2
and2.3

Thank You for that looks like the .hal file is correct now I am assuming I dont have correct settings in the motors thought it would fault if power/loss of com .

or am I missing a config for that? 

Thanks