# This is the master configuration file for the 
# New View Motion Controller NEAT motors/stages
#	r - theta 
#
# 5/98
# Version 0.8	- modified rt07.cfg
#		using "latest" shipping r/t stages, corrected cfg
#			file for directional specifications
#
Axis 		1	# X/r axis
Name		r
Got_axis	1
Avoid_hi	1
Avoid_lo	1
Backlash	15000
Drive_low	1
Drive_on	3
Drive_off	0
Drive_rev	0
Drive_vcc	1
Fine_rate	100
Got_encoder	0
Got_limits	1
Home_dir	1
Home_loc	15000
Home_type	1
Limit_delay	0	
Limit_pol	0
Man_accel	25	
Man_rev		0
Man_ss_rate	32
Mult		12
Pd_time		10
Prog_accel	90
Prog_rate	9000
Prog_rev	1
Prog_ss_rate	10
Stick_cross	30
Stick_dead	10
Stick_k		3
Stop_accel	4
Steps_per_rev	20000	
Pitch_gearratio	.5 revs_per_mm	
Travel		-2.9575 -2.8925 2.9175
#
Axis 		0	# Theta Axis, same as X
Copy		1	# copy X/r
Name		T
Backlash	0
Got_limits	0
Home_type	4
Man_rev		1
Mult		32
Prog_rate	16383
Steps_per_rev	40000	
Pitch_gearratio	5.333333 ratio	
Travel		0.0  0.0  0.0
#
Axis 		3	# P (Pitch - tip) Axis
Copy		1	# copy X
Name		P
Got_axis	0
#
Axis 		4	# R (Roll - tilt) Axis, same as P
Copy		3	# copy pitch
Name		R
Got_axis	0
#
Axis 		2	# Z
Copy		1	# copies X axis
Name		Z
Got_axis	0
#
Axis 		5	# T (theta) Axis
Copy		3	# copies X axis
# These lines come after the axis info because of the way 
# 	mc_read_config is written
Hjoystick	1	4	5	# X, R, t
Vjoystick	0	3	-1	# Y, P, -
Divisors	2000	167	12	1
Config		rt.cfg	0	8