Gentlemen,
I have some of the Saitek joypad buttons working as I want. I
would like to share the configuration logic. In my shop the operators
can hardly wait to use the machine with a wireless game joypad. I will
probably dismantle the joypad and use the joystick components in a
more robust container. The joypad may last a while in the shop
environment. If they last a few months I may just leave them as they
are. New ones are $30.00.
This is the complete joypad file.
# 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.3.speed
net velY joypad.axis.1 => sim-encoder.4.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.3.phase-A => encoder.6.phase-A
net XB sim-encoder.3.phase-B => encoder.6.phase-B
net YA sim-encoder.4.phase-A => encoder.7.phase-A
net YB sim-encoder.4.phase-B => encoder.7.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.6.counts => axis.0.jog-counts
net countY encoder.7.counts => axis.1.jog-counts
#net countZ encoder.2.counts => axis.2.jog-counts
# Set parameter values
setp encoder.6.position-scale 1
setp encoder.6.x4-mode TRUE
setp encoder.7.position-scale 1
setp encoder.7.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.3.ppr 00000064
setp sim-encoder.3.scale 1
setp sim-encoder.4.ppr 00000064
setp sim-encoder.4.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
# uncover setp to enable the Z axis jog joystick all the time
# uncover net button6 to enable the Z axis by pushing button7
#setp axis.2.jog-enable TRUE
#net button6 joypad.button.6 axis.2.jog-enable
# Enable handwheel overrun elimination
# This stops the machine as soon as the joystick is released
# This is a very nice feature.
setp axis.0.jog-vel-mode TRUE
setp axis.1.jog-vel-mode TRUE
setp axis.2.jog-vel-mode 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
#addf encoder.update-counters servo-thread
#addf sim-encoder.make-pulses servo-thread
# [BUTTON-EXAMPLES]
# Scale button
# set four buttons (1, 2, 3, and 4) to choose the jogscale value.
# Pressing button 1 will set the scale to 0.0001
# Pressing button 2 will set the scale to 0.001
# Pressing button 3 will set the scale to 0.01
# Pressing button 4 will set the scale to 0.1
#
# Components
# use four or2's, two flipflops and a mux4
loadrt mux4
loadrt flipflop count=2
loadrt or2 count=4
# Links between buttons and and2's
net button0 joypad.button.0 => or2.0.in0
net button0 joypad.button.0 => or2.1.in0
net button1 joypad.button.1 => or2.0.in1
net button1 joypad.button.1 => or2.2.in0
net button2 joypad.button.2 => or2.3.in0
net button2 joypad.button.2 => or2.1.in1
net button3 joypad.button.3 => or2.3.in1
net button3 joypad.button.3 => or2.2.in1
# Links between the or2's and the flipflop's
net or2-0 or2.0.out flipflop.0.reset
net or2-1 or2.1.out flipflop.1.set
net or2-2 or2.2.out flipflop.1.reset
net or2-3 or2.3.out flipflop.0.set
# Links between the flipflop's and the mux4's
net ff-1 flipflop.0.out mux4.0.sel0
net ff-2 flipflop.1.out mux4.0.sel1
# Link between the mux4 output and the jogscale pin for X Y Z
net jogscale mux4.0.out => axis.0.jog-scale
net jogscale mux4.0.out => axis.1.jog-scale
#net jogscale mux4.0.out => axis.2.jog-scale
# Set the four scale values
setp mux4.0.in1 0.0001
setp mux4.0.in0 0.001
setp mux4.0.in3 0.01
setp mux4.0.in2 0.1
# Attach realtime functions to threads
addf flipflop.0 servo-thread
addf flipflop.1 servo-thread
addf or2.0 servo-thread
addf or2.1 servo-thread
addf or2.2 servo-thread
addf or2.3 servo-thread
addf mux4.0 servo-thread
# Flood button
# Components
# use a TOGGLE component and a NOT component
# TOGGLE makes the button change state one and
# only one time per button push.
# at this time TOGGLE is only in the head release
# The source is available in volume 12, issue 23
# It will probably work in any 2.1.x compiled version
loadrt toggle
loadrt not
setp toggle.0.debounce 10
net button7 joypad.button.7 => toggle.0.in
net floodOn toggle.0.out => halui.flood.on
net floodOn toggle.0.out => not.0.in
net floodOff not.0.out => halui.flood.off
# Attach realtime functions to threads
addf toggle.0 servo-thread
addf not.0 servo-thread
have fun
thanks
Stuart
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