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

sets Xhomeswpos 1
sets Yhomeswpos .5
sets Zhomeswpos 2

net Xpos => comp_x.in1
net Ypos => comp_y.in1
net Zpos => comp_z.in1

setp comp_x.hyst .02
setp comp_y.hyst .02
setp comp_z.hyst .02

net Xhomesw <= comp_x.out
net Yhomesw <= comp_y.out => joint.1.home-sw-in
net Zhomesw <= comp_z.out

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 or2_0 servo-thread
