joystick.hal

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


##########################
# Joystick

loadusr -W hal_input -KRAL Gravis

loadrt mux2 names=joystick-speeds
addf joystick-speeds servo-thread
setp joystick-speeds.in0 1000
setp joystick-speeds.in1 28000
net joystick-speed-sel <= input.0.btn-tl2 => joystick-speeds.sel # "select"
net joystick-speed <= joystick-speeds.out => halui.jog-speed

net joy-x-jog <= input.0.abs-x-position => halui.jog.0.analog
net joy-y-jog <= input.0.abs-y-position => halui.jog.1.analog
net joy-u-jog-up <= input.0.btn-y  => halui.jog.6.plus  # trigger left up
net joy-u-jog-dn <= input.0.btn-tl => halui.jog.6.minus # trigger left down

# reverse Y
setp input.0.abs-y-scale -127.5

net joy-prog-run   <= input.0.btn-c => halui.program.run   # green
net joy-prog-stop  <= input.0.btn-a => halui.program.stop  # red
net joy-prog-pause <= input.0.btn-b => halui.program.pause # yellow
#input.0.btn-x # blue
#input.0.btn-z # trigger right up
#input.0.btn-tr # trigger right down
#input.0.btn-tr2 # "start"