7i96s_mpg_hal

#Jog Pendant
#file name grizzly_mpg.hal

loadrt mux4 names=scale-mux
loadrt or2 names=x-jog-or
loadrt not names=x-jog-not,prog-running-not
loadrt ilowpass names=scale-ilowpass

addf scale-mux servo-thread
addf x-jog-or servo-thread
addf x-jog-not servo-thread
addf prog-running-not servo-thread
addf scale-ilowpass servo-thread

setp scale-ilowpass.scale 100
setp scale-ilowpass.gain 0.01
setp joint.0.jog-accel-fraction .5
setp joint.1.jog-accel-fraction .5
setp joint.2.jog-accel-fraction .5

net x-jog-select joint.0.jog-enable x-jog-not.out
net y-jog-select joint.1.jog-enable <= hm2_7i96s.0.inm.00.input-02 => x-jog-or.in0
net z-jog-select joint.2.jog-enable <= hm2_7i96s.0.inm.00.input-03 => x-jog-or.in1
net x-jog-select-inverted x-jog-or.out => x-jog-not.in

net x10 hm2_7i96s.0.inm.00.input-04 => scale-mux.sel0
net x100 hm2_7i96s.0.inm.00.input-05 => scale-mux.sel1 => axis.x.jog-vel-mode => joint.0.jog-vel-mode => axis.y.jog-vel-mode => joint.1.jog-vel-mode => axis.z.jog-vel-mode => joint.2.jog-vel-mode

setp scale-mux.in0 .000001
setp scale-mux.in1 .00001
setp scale-mux.in2 .0001

net jogscale scale-mux.out => joint.0.jog-scale
net jogscale => joint.1.jog-scale
net jogscale => joint.2.jog-scale

net mpg-out hm2_7i96s.0.inm.00.enc0-count => scale-ilowpass.in

net jogcounts scale-ilowpass.out => joint.0.jog-counts
net jogcounts => joint.1.jog-counts
net jogcounts => joint.2.jog-counts

net jogcounts    => axis.x.jog-counts
net x-jog-select => axis.x.jog-enable
net jogscale     => axis.x.jog-scale

net jogcounts    => axis.y.jog-counts
net y-jog-select => axis.y.jog-enable
net jogscale     => axis.y.jog-scale

net jogcounts    => axis.z.jog-counts
net z-jog-select => axis.z.jog-enable
net jogscale     => axis.z.jog-scale