Actual position and Commanded position differ, using cia402 [SOLVED]

Oh thanks! you're right that halcompile is having some problem, userkins.c is unchanged after I run. There's nothing in the terminal that hints at it not working.

Compiling realtime userkins.c
Linking userkins.so
cp userkins.so /usr/lib/linuxcnc/modules/

I've attached the userkins.comp file here

I am so confused. the setup does still works after I deleted userkins.c, so the problem must have come from the old userkins.so. According to our git history, userkins.comp never changed, and we did run halcompile when we set up the project, so I don't see why userkins.so changed. Not important, maybe someone accidentally copied an older version from somewhere.

As for the other issues with userkins, I don't know, this is how I received the configuration. I'm slowly trying to figure things out.
 

I've learned C for a semester in university, didn't get it at all. It was so not nice to me.

I do program Arduinoes these days, because the other colleagues don't want to, but isn't that C++? Any way I hate it too

When I need C I use Rust instead, it's a pain too but at least I can usually figure out where I made a mistake. Which is usually forgetting the ';'