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Ok once again its a regional thing.

Silicon was given the name Silicon in 1817 Thomas Thomson.

In 1787, Antoine Lavoisier suspected that silica might be an oxide of a fundamental chemical element,[18] but the chemical affinity of silicon for oxygen is high enough that he had no means to reduce the oxide and isolate the element.[19] After an attempt to isolate silicon in 1808, Sir Humphry Davy proposed the name "silicium" for silicon, from the Latin silex, silicis for flint, and adding the "-ium" ending because he believed it to be a metal.[20] Most other languages use transliterated forms of Davy's name, sometimes adapted to local phonology (e.g. German Silizium, Turkish silisyum, Catalan silici, Armenian Սիլիցիում or Silitzioum). A few others use instead a calque of the Latin root (e.g. Russian кремний, from кремень "flint"; Greek πυρίτιο from πυρ "fire"; Finnish pii from piikivi "flint", Czech křemík from křemen "quartz", "flint").

I didn't have a programmer at hand and found a very cheap option xilinx virtual cable. 
It flashes perfectly. You just need to solder another contact to the ground on the board.
TDI = 4, TDO = 5, TCK = 6, TMS = 7, GND
Author's page where you can download gitee.com/xiaowuzxc/ESP32-XVC
"Over-the-air" programming over ESP32-C3
For IMPACT ise configuration JTAG spartan 6 xc6slx16
Can also configure for programming in flash memory in impact
Your host can find out from any program for scanning the ip environment.On my phone WOM WIFI
For example IMPACT
xilinx_xvc host=host=192.168.0.103:2542 disableversioncheck=true

If there is no ISE Xilinx there is a standalone programmer openFPGALoader
For openFPGALoader configuration spartan 6 xc6slx16
Write-flash JTAG to SPI bridge  -f

sudo openFPGALoader -c xvc-client --ip <your ip> --port 2542 --fpga-part xc6slx16 -f <your bit file>

Write-sram JTAG  -m
sudo openFPGALoader -c xvc-client --ip <your ip> --port 2542 --fpga-part xc6slx16 -m <your bit file>

For example

sudo openFPGALoader -c xvc-client --ip 192.168.0.103 --port 2542 --fpga-part xc6slx16 -f rv901t_4out__3stepgen_2enc_1pwm.bit
sudo openFPGALoader -c xvc-client --ip 192.168.0.103 --port 2542 --fpga-part xc6slx16 -m rv901t_4out__3stepgen_2enc_1pwm.bit

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

sudo apt install git gzip libftdi1-2 libftdi1-dev libhidapi-dev libudev-dev zlib1g-dev cmake pkg-config make g++
  
git clone github.com/trabucayre/openFPGALoader
cd openFPGALoader
mkdir build
cd build
cmake .. 
cmake --build .
sudo make install

The pins joint.0.motor-pos-cmd and joint.0.motor-pos-fb do not exist, the ones that do appear are join.0.motor-pos-cmd and join.0.motor-pos.fb, are those the ones I have to check with halscope? I have never used halscope, I will have to learn how to use it.

Are you using any qtdragon customizations?

You would need to look at the hal and ini files to see how those constants are used
(some may not even be used, as there's normally a lot of "boilerplate" in hal/ini files)

1. There's no need to load firmware in the hal file as 5I25s store firmware permanently on the card

2. Any bit shift error needs to be corrected in the format string (that's the  purpose of the format string)

3. You need the encoder specific information to create a format string that matches your encoder

Thanks, that makes sense to me.  I think for now it makes sense to keep the PID values in voltage.  However, I'm still confused on the difference between Scale and Analog Scale Max.  Should the number be 10 for both if the PID is in voltage rather than velocity.

Ja neue halpins kannst du analog den bestehenden Pins in der selben Datei definieren.

This was quite good timing

Notice to MK4S owners, the hit to make a Core One from MK4S is 400 something $. so do check that option.

Dang it, i did vaguely recall someone or you mentioning this before, but i was not sure.

I did read, and therein lies the problem, till 1990-2000 it was strictly called Silicium, it was on all periodic tables as such, and i was in school in the 80's and it was Silicium for sure. Somewhere there the transition started, maybe even earlier when integrated chips started to take over based on "silicon valley" name as there were Silicium and Germanium semiconductors, then came silicon chips !!!
some rare examples
www.istockphoto.com/vector/print-gm1363943047-435307903
www.spreadshirt.co.uk/shop/design/silico...ALiZ2ZZN5a3g-1435-32
And that is the only stuff i can find, internet archive does not have much before 2005.

As I stated in my first post (which you must have glossed over or ignored or do I just post shit that only I read), it was named Silicium because it was incorrectly thought to be a metal. It is now Silicon, as it was in the 1980's when I was at high school.

newsroom.lamresearch.com/10-Fun-Facts-About-Silicon?blog=true

Were you at school in the very early 1800's Tommy ?

Another thing people, not reading the full content of a post, even when in red letters people are not told to do something, yet they do and then say "it doesn't work".