# Include from the hexapod project working directory after ecmccfg initialization,
# before IOC/runtime startup. Requires a Linux build of `make logic`.
# cfg/axes.cmd loads the two shared axis YAML templates via loadYamlAxis.cmd.
# Axis IDs 1..12 must be free. No physical EtherCAT hardware is linked.
${SCRIPTEXEC} ./cfg/axes.cmd
${SCRIPTEXEC} ${ecmccfg_DIR}loadCppLogic.cmd, "ASYN_PORT=HEX,REPORT=1,MACROS='COORD_FIRST=1,LEG_FIRST=7,SIMULATION=1'"

# Coordinate masters (virt, axes 1..6) and simulated leg slaves (phys, axes 7..12).
${SCRIPTEXEC} ${ecmccfg_DIR}addMasterSlaveSM.cmd, "NAME=Hexapod_SM,MST_GRP_NAME=virt,SLV_GRP_NAME=phys"