{
    "name": "carrot",
    "description": "carrot",
    "boardcfg": "ICEBreakerV1.0e",
    "plugins": [
        {
            "type": "w5500",
            "pins": {
                "mosi": {
                    "pin": "10"
                },
                "miso": {
                    "pin": "11"
                },
                "sclk": {
                    "pin": "12"
                },
                "sel": {
                    "pin": "13"
                },
                "intr": {
                    "pin": "9",
                    "pull": ""
                }
            },
            "ip": "10.10.10.10",
            "gw": "10.10.10.110",
            "name": "w5500",
            "uid": "w55000"
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "44"
                },
                "dir": {
                    "pin": "43"
                }
            },
            "is_joint": true,
            "joint": {
                "pid_maxoutput": 0.0,
                "scale": 1280.0,
                "ferror": 3.0,
                "min_ferror": 0.0,
                "max_velocity": 100.0,
                "max_acceleration": 1666.0,
                "stepgen_maxaccel": 2082.5,
                "pid_p": 50.0,
                "pid_ff1": 1.0,
                "pid_deadband": 0.0
            },
            "axis": "X",
            "name": "stepdir0",
            "uid": "stepdir0",
            "pulse_len": 2.6
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "42"
                },
                "dir": {
                    "pin": "45"
                }
            },
            "is_joint": true,
            "joint": {
                "pid_maxoutput": 0.0,
                "scale": 1280.0,
                "ferror": 3.0,
                "min_ferror": 0.0,
                "max_velocity": 100.0,
                "max_acceleration": 1666.0,
                "stepgen_maxaccel": 2080.5,
                "pid_p": 50.0,
                "pid_ff1": 1.0,
                "pid_deadband": 0.0
            },
            "axis": "Y",
            "name": "stepdir1",
            "uid": "stepdir1",
            "pulse_len": 2.6
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "48"
                },
                "dir": {
                    "pin": "47"
                }
            },
            "is_joint": true,
            "joint": {
                "pid_maxoutput": 0.0,
                "scale": 1280.0,
                "ferror": 3.0,
                "min_ferror": 0.0,
                "max_velocity": 100.0,
                "max_acceleration": 1666.0,
                "stepgen_maxaccel": 2080.5,
                "pid_p": 50.0,
                "pid_deadband": 0.0,
                "pid_ff1": 1.0
            },
            "axis": "Z",
            "name": "stepdir2",
            "uid": "stepdir2",
            "pulse_len": 2.6
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "46"
                },
                "dir": {
                    "pin": "2"
                }
            },
            "is_joint": true,
            "joint": {
                "pid_maxoutput": 0.0,
                "pid_p": 500.0,
                "pid_i": 500.0,
                "pid_d": 0.01
            },
            "axis": "A",
            "name": "stepdir3",
            "uid": "stepdir3"
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "4"
                },
                "dir": {
                    "pin": "3"
                }
            },
            "is_joint": true,
            "joint": {
                "pid_maxoutput": 0.0,
                "pid_p": 500.0,
                "pid_i": 500.0,
                "pid_d": 0.01
            },
            "name": "stepdir4",
            "axis": "C",
            "uid": "stepdir4",
            "pulse_len": 2.6
        },
        {
            "type": "pwmout",
            "pins": {
                "pwm": {
                    "pin": "18"
                }
            },
            "name": "pwm0",
            "frequency": 1000,
            "uid": "pwmout0"
        },
        {
            "type": "shiftreg",
            "pins": {
                "out": {
                    "pin": "38"
                },
                "in": {
                    "pin": "31"
                },
                "sclk": {
                    "pin": "32"
                },
                "load": {
                    "pin": "34"
                }
            },
            "name": "shiftreg",
            "bits": 24,
            "uid": "shiftreg0"
        },
        {
            "type": "quadencoder",
            "pins": {
                "a": {
                    "pin": "SHIFTREG_INPUT[5]"
                },
                "b": {
                    "pin": "SHIFTREG_INPUT[10]"
                }
            },
            "name": "mpg",
            "uid": "quadencoder0"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "28",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "in0",
            "uid": "bitin0"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "27",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "in1",
            "uid": "bitin1"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "26",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "in2",
            "uid": "bitin2"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "25",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "in3",
            "uid": "bitin3"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "23",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "in4",
            "uid": "bitin4"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "21",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "in5",
            "uid": "bitin5"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "20",
                    "modifier": [
                        {
                            "type": "invert"
                        },
                        {
                            "type": "debounce"
                        }
                    ]
                }
            },
            "name": "in6",
            "uid": "bitin6"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "6",
                    "modifier": [
                        {
                            "type": "invert"
                        },
                        {
                            "type": "debounce"
                        }
                    ]
                }
            },
            "name": "in7",
            "uid": "bitin7"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[4]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "sel0",
            "uid": "bitin8"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[9]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "sel1",
            "uid": "bitin9"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[11]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "sel2",
            "uid": "bitin10"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[13]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "sel3",
            "uid": "bitin11"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[8]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "sel4",
            "uid": "bitin12"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[12]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "ratio_x1",
            "uid": "bitin13"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[15]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "ratio_x10",
            "uid": "bitin14"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[14]",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "name": "ratio_x100",
            "uid": "bitin15"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "19"
                }
            },
            "signals": {
                "bit": {
                    "net": "spindle.0.forward"
                }
            },
            "name": "spindle_cw",
            "uid": "bitout0"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[0]"
                }
            },
            "name": "ext_out0",
            "uid": "bitout4"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[1]"
                }
            },
            "name": "ext_out1",
            "uid": "bitout5"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[2]"
                }
            },
            "name": "ext_out2",
            "uid": "bitout6"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[3]"
                }
            },
            "name": "ext_out3",
            "uid": "bitout7"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[4]"
                }
            },
            "name": "ext_out4",
            "uid": "bitout8"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[5]"
                }
            },
            "name": "ext_out5",
            "uid": "bitout9"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[6]"
                }
            },
            "name": "ext_out6",
            "uid": "bitout10"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[7]"
                }
            },
            "name": "ext_out7",
            "uid": "bitout11"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[8]"
                }
            },
            "name": "ext_out8",
            "uid": "bitout12"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[9]"
                }
            },
            "name": "ext_out9",
            "uid": "bitout13"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[10]"
                }
            },
            "name": "ext_out10",
            "uid": "bitout14"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[11]"
                }
            },
            "name": "ext_out11",
            "uid": "bitout15"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[12]"
                }
            },
            "name": "ext_out12",
            "uid": "bitout16"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[13]"
                }
            },
            "name": "ext_out13",
            "uid": "bitout17"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[14]"
                }
            },
            "name": "ext_out14",
            "uid": "bitout18"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[15]"
                }
            },
            "name": "ext_out15",
            "uid": "bitout19"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[16]"
                }
            },
            "name": "ext_out16",
            "uid": "bitout20"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[17]"
                }
            },
            "name": "ext_out17",
            "uid": "bitout21"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[18]"
                }
            },
            "name": "ext_out18",
            "uid": "bitout22"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[19]"
                }
            },
            "name": "ext_out19",
            "uid": "bitout23"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[20]"
                }
            },
            "name": "ext_out20",
            "uid": "bitout24"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[21]"
                }
            },
            "name": "ext_out21",
            "uid": "bitout25"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[22]"
                }
            },
            "name": "ext_out22",
            "uid": "bitout26"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_OUTPUT[23]"
                }
            },
            "name": "ext_out23",
            "uid": "bitout27"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[16]"
                }
            },
            "name": "ext_in0",
            "uid": "bitin21"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[17]"
                }
            },
            "name": "ext_in1",
            "uid": "bitin22"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[18]"
                }
            },
            "name": "ext_in2",
            "uid": "bitin23"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[20]"
                }
            },
            "name": "ext_in4",
            "uid": "bitin24"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[21]"
                }
            },
            "name": "ext_in5",
            "uid": "bitin25"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[22]"
                }
            },
            "name": "ext_in6",
            "uid": "bitin26"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[23]"
                }
            },
            "name": "ext_in7",
            "uid": "bitin27"
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[19]"
                }
            },
            "name": "ext_in3",
            "uid": "bitin28"
        },
        {
            "type": "quadencoderz",
            "pins": {
                "a": {
                    "pin": "39"
                },
                "b": {
                    "pin": "40"
                },
                "z": {
                    "pin": "41"
                }
            },
            "uid": "quadencoderz0",
            "name": "enc0",
            "quad_type": 0
        },
        {
            "type": "bitin",
            "pins": {
                "bit": {
                    "pin": "SHIFTREG_INPUT[6]"
                }
            },
            "uid": "bitin16",
            "name": "estop"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "36"
                }
            },
            "uid": "bitout2",
            "name": "out0"
        },
        {
            "type": "bitout",
            "pins": {
                "bit": {
                    "pin": "37"
                }
            },
            "uid": "bitout3",
            "name": "out1"
        }
    ],
    "protocol": "UDP",
    "linuxcnc": {
        "num_axis": 5,
        "machinetype": "mill",
        "ini": {
            "DISPLAY": {
                "MAX_LINEAR_VELOCITY": 100.0,
                "DEFAULT_LINEAR_VELOCITY": 50.0
            },
            "TRAJ": {
                "MAX_LINEAR_VELOCITY": 100.0,
                "DEFAULT_LINEAR_VELOCITY": 50.0
            }
        }
    }
}