loadrt mux2 count=4
...
# note packet error mux must be after hardware read but before motion
addf hm2_[HOSTMOT2](BOARD).0.read         servo-thread
addf mux2.0                               servo-thread
addf mux2.1                               servo-thread
addf mux2.2                               servo-thread
addf mux2.3                               servo-thread
addf motion-command-handler               servo-thread
addf motion-controller                    servo-thread
addf pid.0.do-pid-calcs                   servo-thread
addf pid.1.do-pid-calcs                   servo-thread
addf pid.2.do-pid-calcs                   servo-thread
addf pid.3.do-pid-calcs                   servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write        servo-thread
...
# switch from feedback position to commanded position to motion and pid on packet error:
net perror  hm2_[HOSTMOT2](BOARD).0.packet-error => mux2.0.sel mux2.1.sel mux2.2.sel mux2.3.sel
...
# position command and feedback (joint 0) (master) Notice the motions and PID feedback come from mux
# and both get commanded position rather the (bogus) feedback position if there is a packet error
net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command mux2.0.in1
net emcmot.00.vel-cmd joint.0.vel-cmd => pid.0.command-deriv
net fb0 mux2.0.in0 <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb 
net motor.00.pos-fb <= mux2.0.out joint.0.motor-pos-fb pid.0.feedback
net motor.00.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd
setp pid.0.error-previous-target true