ExcessiveMotion_controller-software/controller-firmware/python/config/hardware configs/hardware_config.yaml

hardware_slots:
  slot_a:
    #TODO: support more than one card type per slot?
    card_type:  "serial interface card" 
    card_options:
      # set which internal interfaces should be connected to each serial port.
      # TODO: support more than one internal interface per serial port?
      port_0: [fanuc_rs422_encoder]
      port_1: [serial_device]

  slot_b:

  slot_c:

  slot_d:

fpga_blocks:  # extra internal functions
  cascaded_PI_controller:
    count: 1
    parameters: # build parameters for the block when instantiating it
      instances: 1