mpg-xyz

# mpg x with ilowpass filtering
# mpg-xyz.hal
# add this line to postgui_call_list.hal
#  ' source mpg-xyz.hal '

# modify ini file to add .0 show the following lines in hostmot2
# DRIVER0 = hm2_xxxx.0
# BOARD0 = xxxx.0


loadrt encoder num_chan=3
loadrt mux4 count=3
addf encoder.capture-position servo-thread
addf encoder.update-counters base-thread

addf mux4.0 servo-thread
addf mux4.1 servo-thread
addf mux4.2 servo-thread

loadrt ilowpass
#x-axis
addf ilowpass.0 servo-thread
setp ilowpass.0.scale 1000
setp ilowpass.0.gain 0.01

#y-axis
addf ilowpass.1 servo-thread
setp ilowpass.1.scale 1000
setp ilowpass.1.gain 0.01

#z-axis
addf ilowpass.2 servo-thread
setp ilowpass.2.scale 1000
setp ilowpass.2.gain 0.01


# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
setp encoder.0.x4-mode 0
setp encoder.1.x4-mode 0
setp encoder.2.x4-mode 0

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp axis.0.jog-vel-mode 0
setp axis.1.jog-vel-mode 0
setp axis.2.jog-vel-mode 0

# the inputs to the mux4 component
net scale1 mux4.0.sel0 <=  hm2_7i43.0.gpio.014.in_not  # change to select scale0 input select pin 0
net scale2 mux4.0.sel1 <=  hm2_7i43.0.gpio.014.in_not  # change to select scale0 input select pin 1

net scale3 mux4.1.sel0 <=  hm2_7i43.0.gpio.014.in_not  # change to select scale1 input select pin 0
net scale4 mux4.1.sel1 <=  hm2_7i43.0.gpio.014.in_not  # change to select scale1 input select pin 1

net scale5 mux4.2.sel0 <=  hm2_7i43.0.gpio.014.in_not  # change to select scale2 input select pin 0
net scale6 mux4.2.sel1 <=  hm2_7i43.0.gpio.014.in_not  # change to select scale2 input select pin 1

# this sets the scale that will be used based on the input to the mux4
# the scale used here has to be multiplied by the ilowpass scale
setp mux4.0.in0 0.0001
setp mux4.0.in1 0.00001
setp mux4.0.in2 0.000001

setp mux4.1.in0 0.0001
setp mux4.1.in1 0.00001
setp mux4.1.in2 0.000001

setp mux4.2.in0 0.0001
setp mux4.2.in1 0.00001
setp mux4.2.in2 0.000001

# send encoder counts to ilowpass
net mpg-out-x ilowpass.0.in <= encoder.0.counts
net mpg-out-y ilowpass.1.in <= encoder.1.counts
net mpg-out-z ilowpass.2.in <= encoder.2.counts

# the output from the ilowpass is sent to each axis jog scale
net mpg-scale-x <= ilowpass0.out
net mpg-scale-y <= ilowpass1.out
net mpg-scale-z <= ilowpass2.out

net mpg-scale => axis.0.jog-scale
net mpg-scale => axis.1.jog-scale
net mpg-scale => axis.2.jog-scale

# the encoder output counts to the axis. Only the selected axis will move.
net encoder-counts-x  <= encoder.0.counts
net encoder-counts-y  <= encoder.1.counts
net encoder-counts-z  <= encoder.2.counts

net encoder-counts-x => axis.0.jog-counts
net encoder-counts-y => axis.1.jog-counts
net encoder-counts-z => axis.2.jog-counts