# Include your customized HAL commands here
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts

loadrt or2 count=2
loadrt mux4 count=1


addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread



 # set the jog speed for the joypad again use numbers that make sense for your machine
 setp mux4.0.in0 0 # this one must be 0 to prevent motion unless a button is pressed
 setp mux4.0.in1 150
 setp mux4.0.in2 500
 setp mux4.0.in3 1500


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


 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



#6. Step 6 Set up the Axis
#Add the following to your postgui.hal file

 net joy-x-jog halui.jog.0.analog <= input.0.abs-y-position
 net joy-y-jog halui.jog.1.analog <= input.0.abs-x-position
 net joy-z-jog halui.jog.2.analog <= input.0.abs-ry-position


#7. Reverse any Axis that go in the wrong direction
#To reverse the direction of an axis add the following, in my case both Y and Z were backwards.

	setp input.0.abs-x-scale -127.5
	setp input.0.abs-y-scale -127.5
	setp input.0.abs-ry-scale -127.5