load sserial
load vel_int
load linrev
load idx_home
sserial0.rt_prio = 2.0
sserial0.frt_prio = 2.0
linrev0.rt_prio = 2.1
vel_int0.rt_prio = 2.2
idx_home0.rt_prio = 2.3
linrev0.cmd_in = sserial0.pos_cmd
linrev0.cmd_d_in = sserial0.pos_cmd_d
vel_int0.pos_in = linrev0.cmd_out
vel_int0.vel_in = linrev0.cmd_d_out
fault0.en = sserial0.enable
sserial0.fault = fault0.fault
fault0.cmd_error = sserial0.error
linrev0.fb_in = idx_home0.pos_out
linrev0.fb_d_in = vel1.vel
idx_home0.fb = fb_switch0.mot_fb_no_offset
idx_home0.fb_abs = fb_switch0.mot_abs_fb_no_offset
idx_home0.index_en = sserial0.index_out
idx_home0.mot_state = fb_switch0.mot_state
sserial0.index_clear = idx_home0.index_clear
linrev0.rev_clear = sserial0.index_clear
sserial0.pos_fb = linrev0.fb_out
sserial0.vel_fb = linrev0.fb_d_out
sserial0.pos_advance = 0.0008
rev0.in = vel_int0.pos_out
rev0.in_d = vel_int0.vel_out
pid0.vel_ext_cmd = rev0.out_d
vel_int0.wd = 0.002
vel0.en = 0
io0.cmdy = sserial0.error
io0.cmdg = 1
sserial0.in0 = io0.ind0
sserial0.in1 = io0.ind1
io0.out0 = sserial0.out0
io0.out1 = sserial0.out1
io0.out2 = sserial0.out2
fault0.brake_release = sserial0.out3
term0.wave2 = linrev0.cmd_d_out
sserial0.current = hv0.q_fb
linrev0.scale = sserial0.scale