# joypad.hal -- hal configuration file to move a cnc machine using a joypad

# [JOG]
# Components 

# We will use hal_joystick to read the axis value (float) for X Y Z, we will send these values to the 
# speed pin of a sim-encoder component, for X Y Z, this component outputs Phase-A and Phase-B signal, 
# just like a real quadrature rotary encoder. We will decode those signals with an encoder component for X Y Z
# and will send the result counts value to the axis jog pin for X Y Z.

# Load the hal_joystick component that creates joypad.axis.<n> and joypad.button.<n> pins
loadusr hal_joystick -d /dev/input/js0 -p joypad

# Load three encoder and three sim_encoder components
loadrt encoder num_chan=3 
loadrt sim_encoder num_chan=3 

# Create links between the axis pins and the speed pin of the sim-encoder for X Y Z
net velX joypad.axis.0 => sim-encoder.0.speed
net velY joypad.axis.1 => sim-encoder.1.speed
net velZ joypad.axis.3 => sim-encoder.2.speed

# Create links between sim-encoder Phase-A and Phase-B and encoder Phase-A and Phase-B for X Y Z
net XA sim-encoder.0.phase-A => encoder.0.phase-A
net XB sim-encoder.0.phase-B => encoder.0.phase-B
net YA sim-encoder.1.phase-A => encoder.1.phase-A
net YB sim-encoder.1.phase-B => encoder.1.phase-B
net ZA sim-encoder.2.phase-A => encoder.2.phase-A
net ZB sim-encoder.2.phase-B => encoder.2.phase-B

# Create links between encoder counts and jog counts for X Y Z
net countX encoder.0.counts => axis.0.jog-counts
net countY encoder.1.counts => axis.1.jog-counts
net countZ encoder.2.counts => axis.2.jog-counts

# Set parameter values
setp encoder.0.position-scale            1
setp encoder.0.x4-mode         TRUE
setp encoder.1.position-scale            1
setp encoder.1.x4-mode         TRUE
setp encoder.2.position-scale            1
setp encoder.2.x4-mode         TRUE
setp encoder.capture-position.tmax            0
setp encoder.update-counters.tmax            0
setp sim-encoder.0.ppr     00000064
setp sim-encoder.0.scale            1
setp sim-encoder.1.ppr     00000064
setp sim-encoder.1.scale            -1
setp sim-encoder.2.ppr     00000064
setp sim-encoder.2.scale            1
setp sim-encoder.make-pulses.tmax            0
setp sim-encoder.update-speed.tmax            0

# Enable jog for X Y Z
setp axis.0.jog-enable TRUE
setp axis.1.jog-enable TRUE
setp axis.2.jog-enable TRUE

# Attach realtime functions to threads
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
addf encoder.update-counters base-thread
addf sim-encoder.make-pulses base-thread



# [BUTTON-SAMPLES]

# Here are two examples on how to attach some functions to joypad buttons. We will use Halui pins for the 
# second example.

# Scale button 

# we set two buttons (6 and 4) to choose the jogscale value. Pressing button 6 will set the scale to 0.01 
# while pressing button 4 will set it to 0.1.

# Components
# We will use a two values selector and a flipflop component 

loadrt mux2 
loadrt flipflop 

# Link between buttons and flipflop, flipflop will output TRUE when rising edge is detected on set pin, FALSE 
# when rising edge is on reset pin.
net button4 joypad.button.4 => flipflop.0.reset
net button6 joypad.button.6 => flipflop.0.set

# Link between flipflop and mux2, mux2 will output value mux2.0.in0 when mux2.0.sel is FALSE and mux2.0.in1 
# when TRUE.
net selected flipflop.0.out => mux2.0.sel

# Link between the mux2 output and the jogscale pin for X Y Z
net jogscale mux2.0.out => axis.0.jog-scale
net jogscale mux2.0.out => axis.1.jog-scale
net jogscale mux2.0.out => axis.2.jog-scale

# Set parameters values
setp flipflop.0.tmax         3750
setp mux2.0.tmax         3601

# Set the two scale values
setp mux2.0.in0          0.1
setp mux2.0.in1          0.01

# Attach realtime functions to threads
addf flipflop.0 servo-thread
addf mux2.0 servo-thread

# Flood button

# We will set a single button (button 7) to start and stop flood. We will use Halui pins for that.

# Components
# We will use simply two and2 and 1 not components

loadrt and2 count=2
loadrt not 

# Flood-is-on halui pin is linked to the and2.0.in0 and the not-flood-is-on, generated using the not component 
# is linked to the and2.1.in0. So, if the flood is on, we will have and2.0.in0 TRUE and and2.1.in0 FALSE.
net flood-is-on halui.flood.is-on => and2.0.in0
net flood-is-on halui.flood.is-on => not.0.in
net not-flood-is-on not.0.out => and2.1.in0

# Link between button 7 and and.0.in1 and and.1.in1. In this way, if the flood for example is on, when the 
# button is pressed TRUE will be sent to and2.0.in1 and and2.1.in1, while the in0 value for and2 components 
# will be TRUE for the first and2 and FALSE for the second. So the first and2 will output TRUE.
net button7 joypad.button.7 => and2.0.in1
net button7 joypad.button.7 => and2.1.in1

# Link between and2 outputs and halui pin flood on and off. So, as seen above, if the flood is on, the and2.0
# will output TRUE and the flood will turn off.
net floodOff and2.0.out => halui.flood.off
net floodOn and2.1.out => halui.flood.on

# Attach realtime functions to threads
addf and2.0 servo-thread
addf and2.1 servo-thread
addf not.0 servo-thread