#Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel)
# starts
# This file will not be overwritten when you run stepconf again

# te 5/5/10 (from dg 2/23/09)
# See http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Simple_Remote_Pendant
# Also make sure the .ini files contains:
#[HAL]
#HALFILE = EmcoF1Mill.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = custom_postgui.hal
#HALUI = halui

# custom.hal contains a single line (without comment hash):
# loadusr -W hal_input -KRAL DragonRise

# option 1--fixed jog speed:
# setp halui.jog-speed 10

# option 2--default jog speed, buttons 1-3 select slow to fast when held down,
# if no buttons, default speed

# load these two components--qty 2 2-input OR gates, qty 1 4-input mux
loadrt or2 count=2
loadrt mux4 count=1

# add these to the servo thread
addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread

# jog speeds.  0 is the default (no button), in1, in2, and in3 correspond to
# buttons 1, 2, and 3 on the right side of the game pad
# set in0 to 0 to prevent any motion unless a button is pressed,
# otherwise set to a default jog speed
setp mux4.0.in0 10
setp mux4.0.in1 1
setp mux4.0.in2 20
setp mux4.0.in3 45

# the following does the magic of setting the jog speeds
net remote-speed-slow or2.0.in0 input.0.btn-trigger
net remote-speed-medium or2.1.in0 input.0.btn-thumb
net remote-speed-fast or2.0.in1 or2.1.in1 input.0.btn-thumb2

net joy-speed-1 mux4.0.sel0 <= or2.0.out
net joy-speed-2 mux4.0.sel1 <= or2.1.out
net joy-speed-final halui.jog-speed <= mux4.0.out


# now process axes
loadrt sum2 count=2 # one instance for each axis you need to reverse, also check to make sure you don't already have sum2 loaded (will show up under functions in machine->show hal configuration?)
addf sum2.0 servo-thread # in my case I needed to reverse the Y and Z axis
addf sum2.1 servo-thread

# x is fine, no need to reverse
net joy-x-jog halui.jog.0.analog <= input.0.abs-x-position

# if no need to reverse, use the following line:
#net joy-y-jog halui.jog.1.analog <= input.0.abs-y-position
# if needed, reverse the analog so the axis will go in the expected direction
setp sum2.0.gain0 -1
net reverse-y sum2.0.in0 <= input.0.abs-y-position
net joy-y-jog halui.jog.1.analog <= sum2.0.out

# same need to reverse z axis
#net joy-z-jog halui.jog.2.analog <= input.0.abs-rz-position
setp sum2.1.gain0 -1
net reverse-z sum2.1.in0 <= input.0.abs-rz-position
net joy-z-jog halui.jog.2.analog <= sum2.1.out

# a (rotation) axis
#net joy-a-jog halui.jog.3.analog <= input.0.abs-a-position

# set up e-stop--larger right button marked "2" facing away from operator
net joy-estop halui.estop.activate <= input.0.btn-pinkie

# spindle on, increase, off
# spindle on is "start" button
net joy-spindle-on halui.spindle.start <= input.0.btn-base4
# spindle increase is button "1" on right
net joy-spindle-increase halui.spindle.increase <= input.0.btn-base2
# spindle decrease is button "1" on left
net joy-spindle-decrease halui.spindle.decrease <= input.0.btn-base
# spindle stop is button "select"
net joy-spindle-stop halui.spindle.stop <= input.0.btn-base3