Jakemestre1 wrote: What I'm trying to figure out at this point is how to output position commands from the classic ladder so hal will execute the position change of the turret.
Do you have any position sensors on the turret? If so, then it might be better to turn on and off a stepgen in velocity mode, and stop when the turret is in position.
There is a HAL component (carousel) for this sort of thing. But that might not suit your system.
