#Pause/Resume pauses and continues running the program. while in Pause mode pressin the Run/Step button
#steps through the program one step at a time until Pause Resume is pressed which then continues 
#running the program.

#create signals to show which axis is selected 
net xisselected axisui.jog.x => parport.1.pin-02-out
net yisselected axisui.jog.y => parport.2.pin-04-out
net zisselected axisui.jog.z => parport.0.pin-03-out

#jensor from ichguckslive add joypad. All program below custom interfaces the joypad.
# Joypad name is MY-POWER (found only in dmesg)
#This command is in my pinout.hal: loadusr -W hal_input MY-POWER

loadrt or2	count=4
loadrt mux8	count=1
loadrt toggle	count=2
loadrt not	count=1
loadrt and2	count=6
loadrt toggle2nist count=2
loadrt debounce cfg=5

addf or2.0	servo-thread
addf or2.1	servo-thread
addf or2.2	servo-thread
addf or2.3	servo-thread
addf mux8.0	servo-thread
addf toggle.0	servo-thread
addf toggle.1	servo-thread
addf not.0	servo-thread
addf and2.0	servo-thread
addf and2.1	servo-thread
addf and2.2	servo-thread
addf and2.3	servo-thread
addf and2.4	servo-thread
addf and2.5	servo-thread
addf toggle2nist.0 servo-thread
addf toggle2nist.1 servo-thread
addf debounce.0 servo-thread
setp debounce.0.delay 5 

# set the jog speed for the joypad again use numbers that make sense for your machine
# this one must be 0 to prevent motion unless a button is pressed
setp mux8.0.in0 0
setp mux8.0.in1 .2
setp mux8.0.in2 1
setp mux8.0.in3 5
setp mux8.0.in4 40
setp mux8.0.in5 0
setp mux8.0.in6 0
setp mux8.0.in7 0
 
# the following does the magic of setting the jog speeds				#Count
net remote-speed-slow   input.0.btn-joystick => or2.0.in0				#or2.0
net remote-speed-medium input.0.btn-thumb    => or2.1.in0				#or2.1
net remote-speed-fast   input.0.btn-thumb2   => or2.1.in1    or2.0.in1

#Connect or2 outputs to appropriate selinput pins of mux8.0 
net joy-speed-1     or2.0.out       => mux8.0.sel0				
net joy-speed-2     or2.1.out       => mux8.0.sel1
net joy-speed-3     input.0.btn-top => mux8.0.sel2
net joy-speed-final mux8.0.out      => halui.jog-speed

#Connect joypad pins to halui in pins
net joy-xpos-jog input.0.abs-x-is-pos     => halui.jog.0.plus
net joy-xneg-jog input.0.abs-x-is-neg     => halui.jog.0.minus
net joy-ypos-jog input.0.abs-y-is-neg     => halui.jog.1.plus
net joy-yneg-jog input.0.abs-y-is-pos     => halui.jog.1.minus
net joy-zpos-jog input.0.abs-rz-is-pos    => halui.jog.2.minus
net joy-zneg-jog input.0.abs-rz-is-neg    => halui.jog.2.plus

# Pause/Resume Button Section
net pause-resume-btn	input.0.btn-base4		=> debounce.0.0.in		#debounce.0.0
net pause-resume-btnd	debounce.0.0.out   and2.0.in0   and2.1.in0 			#and2.0
net pause-on	     toggle2nist.0.is-on   and2.0.in1 	<= halui.program.is-paused	#and2.1
net run-on	     and2.1.in1 			<= halui.program.is-running
net pause-sig	     or2.2.in0 				<= and2.0.out			#or2.2
net resume-sig	     or2.2.in1 				<= and2.1.out
net toggle-ok	     toggle.0.in 			<= or2.2.out
net togglesig	     toggle2nist.0.in 			<= toggle.0.out			#toggle2nist.0
net toggleon	     halui.program.pause 		<= toggle2nist.0.on
net toggleoff	     halui.program.resume 		<= toggle2nist.0.off

# Run Program Button Section
net run-step-btn 	input.0.btn-base3 	=> debounce.0.1.in			#debounce.0.1
net run-step-btnd	debounce.0.1.out	=> and2.2.in0 	  and2.3.in0	   	#and2.2
net idle-on 		and2.2.in1 	  	<= halui.program.is-idle		#and2.3
net run-sig 		halui.mode.auto	  halui.program.run <= and2.2.out
net pause-on		and2.3.in1		# This signal was named in 1BPpinout.hal
net pgm-step		and2.3.out	<= halui.program.step

#Estop Toggle Button  Activated/Rest -  btn-base5 or btn-base6
net Estopb5	input.0.btn-base5 	=> debounce.0.2.in				#debounce.0.2
net Estopb6	input.0.btn-base6 	=> debounce.0.3.in				#debounce.0.3
net E5d	   	debounce.0.2.out	=> or2.3.in0					#or2.3
net E6d		debounce.0.3.out	=> or2.3.in1
net EstopCmd	   or2.3.out 		=> and2.4.in1 	and2.5.in1			#and2.4
net estopactivated   and2.4.in0 	not.0.in					#and2.5
net estop-reset    and2.4.out 		<= halui.estop.reset
net Esis-act-not   not.0.out 		=> and2.5.in0
net estop-activate and2.5.out 		=> halui.estop.activate

#Machine Toggle On/Off Button   -   btn-top2
net machine	input.0.btn-top2  	=> debounce.0.4.in				#debounce.0.4
net machined	debounce.0.4.out  	=> toggle.1.in
net togout	toggle.1.out		=> toggle2nist.1.in				#toggle2nist.1
net machineon	toggle2nist.1.is-on		# This signal was named in 1BPpinout.hal
net tog0 	toggle2nist.1.on	=> halui.machine.on
net tog1 	toggle2nist.1.off	=> halui.machine.off

#Program Stop  -  btn-pinkie	# works, but sometimes get error
net stop 	input.0.btn-pinkie  	=> halui.program.stop