loadrt or2 names=or2_0
loadrt comp names=comp_x,comp_y,comp_z

net Xhomeswpos => comp_x.in0
net Yhomeswpos => comp_y.in0
net Zhomeswpos => comp_z.in0
#net Ahomeswpos => comp_a.in0
#net Bhomeswpos => comp_b.in0
#net Chomeswpos => comp_c.in0



sets Xhomeswpos 1
sets Yhomeswpos .5
sets Zhomeswpos 2
#sets Ahomeswpos 2
#sets Bhomeswpos 2
#sets Chomeswpos 2

net Xpos => comp_x.in1
net Ypos => comp_y.in1
net Zpos => comp_z.in1
#net Apos => comp_a.in1
#net Bpos => comp_b.in1
#net Cpos => comp_c.in1

setp comp_x.hyst .02
setp comp_y.hyst .02
setp comp_z.hyst .02
#setp comp_a.hyst .02
#setp comp_b.hyst .02
#setp comp_c.hyst .02


net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Yhomesw <= comp_y.out => joint.1.home-sw-in
net Zhomesw <= comp_z.out => joint.2.home-sw-in
#net Ahomesw <= comp_a.out => joint.3.home-sw-in
#net Bhomesw <= comp_b.out => joint.4.home-sw-in
#net Chomesw <= comp_c.out => joint.4.home-sw-in

# net Xhomesw => or2_0.in0
# net Zhomesw => or2_0.in1
# net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in

addf comp_x servo-thread
addf comp_y servo-thread
addf comp_z servo-thread
#addf comp_a servo-thread
#addf comp_b servo-thread
#addf comp_c servo-thread

addf or2_0 servo-thread