# This file was created with the Mesa Configuration Tool on feb 03 2026 16:05:43
# If you make changes to this file DO NOT run the configuration tool again!
# This file will be replaced with a new file if you do!

# kinematics
loadrt [KINS](KINEMATICS)

# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)

# hostmot2 driver
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="num_encoders=6 num_pwmgens=6 sserial_port_0=00000000"

setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 5000000

loadrt pid names=pid.x

# THREADS
addf hm2_[MESA](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf hm2_[MESA](BOARD).0.write servo-thread

# amp enable
net motion-enable <= motion.motion-enabled
#net motion-enable => hm2_7i97t.0.out-00
#net motion-enable => hm2_[MESA](BOARD).0.gpio.000.out #oprindelig



# Global PWM setup
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency 25000

# Board: 7i97t

# Axis: X Joint: 0 Output: 0
# PID Setup
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target True


net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable
net joint-0-enable => hm2_[MESA](BOARD).0.pwmgen.00.enable 

# PWM Generator setup

#setp hm2_[MESA](BOARD).0.pwmgen.00.value 1.0 #sætter fast 1 volt Proof of life
setp  hm2_[MESA](BOARD).0.pwmgen.00.output-type 1 #PWM pin0
setp  hm2_[MESA](BOARD).0.pwmgen.00.offset-mode 1 #offset mode so 50% = 0
setp  hm2_[MESA](BOARD).0.pwmgen.00.scale 10
#setp  hm2_[MESA](BOARD).0.pwmgen.00.enable true


# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command
net joint-0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.pwmgen.00.value

# Encoder Setup
setp hm2_[MESA](BOARD).0.encoder.00.scale [JOINT_0](ENCODER_SCALE)
setp hm2_[MESA](BOARD).0.encoder.00.counter-mode 0
setp hm2_[MESA](BOARD).0.encoder.00.filter 1

# Standard I/O Block - EStop, Etc
# create a signal for the estop loopback
net estop-loopback iocontrol.0.emc-enable-in <= iocontrol.0.user-enable-out

#loadusr -W halui

#net estop-in    halui.estop.activate      => iocontrol.0.emc-enable-in
#net estop-out   iocontrol.0.emc-enable-out => halui.estop.reset


# Kun til test – bypass enable-kæden
#setp hm2_7i97t.0.pwmgen.00.enable true
#setp pid.x.enable true

#Hvis der skal bruges et enable signal fra "net motion-eable <= motion.motion-enabled" skal det kobes #til nogle fyskiske pins såsom

#setp hm2_7i97t.0.gpio.XXX.is_output true

# Forbind motion-enable til fysisk pin
#net motion-enable => hm2_7i97t.0.gpio.XXX.out