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
linrev0.fb_in = linrev0.cmd_out
linrev0.fb_d_in = linrev0.cmd_d_out
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
pid0.vel_ext_cmd = rev0.out_d
vel_int0.wd = 0.002
io0.cmdy = sserial0.error
io0.cmdg = 1
linrev0.scale = 6