# joypadcomp.hal -- hal configuration file to move a cnc machine using a joypad, joycounts component version

# [JOG]
# Components 

# We will use the component joycounts to convert the axis float value in a counts integer value
# to send to the axis jog counts pin.

# 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 joycounts components
loadrt joycounts count=3 

# Create links between the joypad axis pins and joycounts axisvalue for X Y Z
net velX joypad.axis.0 => joycounts.0.axisvalue
net velY joypad.axis.1 => joycounts.1.axisvalue
net velZ joypad.axis.3 => joycounts.2.axisvalue

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

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

# Set joycounts scale
setp joycounts.0.scale 0.2
setp joycounts.1.scale -0.2
setp joycounts.2.scale 0.2

# Attach realtime functions to threads
addf joycounts.0.updatecounts servo-thread
addf joycounts.1.updatecounts servo-thread
addf joycounts.2.updatecounts servo-thread



# [BUTTONS-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 0.1 
# while pressing button 4 will set it to 0.01.

# 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 

# newsig flood-is-on bit
#newsig not-flood-is-on bit
#newsig button7 bit

# 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


#linksp flood-is-on halui.flood.is-on
#linksp flood-is-on and2.0.in0
#linksp flood-is-on not.0.in
#linksp not-flood-is-on not.0.out
#linksp not-flood-is-on and2.1.in0
#linksp button7 joypad.button.7
#linksp button7 and2.0.in1
#linksp button7 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