setexact_for_test_suite_only

loadrt sampler cfg=sss depth=3500
loadusr  -Wn halsampler halsampler -N halsampler  -n 3500

newinst stepgenv2 stepgen.0 step_type=2
newinst encoderv2 encoder.0
newinst encoderv2 encoder.1
newinst encoderv2 encoder.2

loadrt threads name1=fast period1=100000

net A stepgen.0.phase-A => encoder.0.phase-A encoder.1.phase-A encoder.2.phase-A
net B stepgen.0.phase-B => encoder.0.phase-B encoder.1.phase-B
net C0 encoder.0.counts => sampler.0.pin.0
net C1 encoder.1.counts => sampler.0.pin.1
net C2 encoder.2.counts => sampler.0.pin.2

addf stepgenv2.update-freq fast
addf stepgenv2.make-pulses fast
addf encoderv2.update-counters fast
addf encoderv2.capture-position fast
addf sampler.0 fast

setp stepgen.0.maxvel .15
setp stepgen.0.maxaccel 2
setp stepgen.0.position-cmd .04
setp stepgen.0.enable 1
setp stepgen.0.position-scale 32000
setp encoder.1.x4-mode 0
setp encoder.2.counter-mode 1

start
waitusr -i  halsampler
