loadrt offset loadrt encoder num_chan=1 addf offset.0.update-output servo-thread addf offset.0.update-feedback servo-thread addf encoder.capture-position servo-thread addf encoder.update-counters servo-thread net z-pos-fb => offset.0.fb-in net out-z-fb offset.0.fb-out => pid.z.feedback net z-pos-fb => offset.0.fb-in net out-z-fb offset.0.fb-out => pid.z.feedback net trim-z-a encoder.0.phase-A <= hm2_5i23.0.gpio.052.in_not net trim-z-b encoder.0.phase-B <= hm2_5i23.0.gpio.054.in_not net trimz offset.0.offset <= encoder.0.position setp encoder.0.position-scale 1900 setp encoder.0.x4-mode false