You should not JUST copy the three files I posted; at best you could insert the snippets I posted first (there's a section in my custom.hal that matches it, you could cut-n-paste that). You *should* be able to use my HLFB logic as-is if you have wired each servo to its own enable/fault pins, and have a gantry-style (dual Y) system.
With a basic understanding of how HAL works, you should be able to figure out my hal setup. I'm not an expert at HAL so my logic is pretty basic. The bigcnc.* files are pretty much right out of pncconf (but tweaked) and the custom.hal file is all mine.
