loadusr -W hal_input -KRAL Gamepad

# load joyhandle component and attach to threads (in this case 3 instances)
loadrt joyhandle count=3

addf joyhandle.0 servo-thread   # x
addf joyhandle.1 servo-thread   # y
addf joyhandle.2 servo-thread   # z


setp halui.jog-speed   1900     # desired maximum jog speed mm/min

# --Start-- These parameters ara used to set up joyhandle
setp halui.jog-deadband   0.    # important: default value is 0.2, that would override joyhandle.deadband
setp joyhandle.0.power 3.       # select nonlinearity to handele low jog values
setp joyhandle.1.power 3.
setp joyhandle.2.power 4.       # in my case the z-axis is set up more sensitive
setp joyhandle.0.deadband 0.1
setp joyhandle.1.deadband 0.1
setp joyhandle.2.deadband 0.1
setp joyhandle.0.scale 1.
setp joyhandle.1.scale -1.      # negative values invert jogging
setp joyhandle.2.scale -1.    # in my case the z-axis is scaled to lower speed
# --End--

# connect hal_input to halui via joyhandle (in case use your own axes-names)
net velX input.0.abs-rx-position => joyhandle.0.in
net velXout joyhandle.0.out => halui.jog.0.analog
net velY input.0.abs-ry-position => joyhandle.1.in
net velYout joyhandle.1.out => halui.jog.1.analog

net velZ input.0.abs-z-position => joyhandle.2.in
net velZout joyhandle.2.out => halui.jog.2.analog