Hal file to enhace MPG pendant USB wireless

hidcomp.0.PIN1.raw
hidcomp.0.PIN1.ivalue
hidcomp.0.PIN1.fvalue
hidcomp.0.PIN2.raw
hidcomp.0.PIN2.ivalue
hidcomp.0.PIN2.fvalue
hidcomp.0.PIN3.raw
hidcomp.0.PIN3.ivalue
hidcomp.0.PIN3.fvalue
hidcomp.0.PIN4.raw
hidcomp.0.PIN4.ivalue
hidcomp.0.PIN4.fvalue
hidcomp.0.PIN5.raw
hidcomp.0.PIN5.ivalue
hidcomp.0.PIN5.fvalue


The problem is they aren´t bits, so i used two comp.0 and one and2.0 to convert a float value into a bit value, this is the hal code i wrote:

# Include your customized HAL commands here
# This file will not be overwritten when you run stepconf again




loadusr -W hidcomp -ini smartstep2.ini Mando.hid





loadrt wheel
loadrt mux4 count=2
loadrt and2 count=20
loadrt comp count=34
loadrt or2 count=2

addf or2.0 servo-thread
addf or2.1 servo-thread

addf wheel.0 servo-thread

addf comp.0 servo-thread
addf comp.1 servo-thread
addf comp.2 servo-thread
addf comp.3 servo-thread
addf comp.4 servo-thread
addf comp.5 servo-thread
addf comp.6 servo-thread
addf comp.7 servo-thread
addf comp.8 servo-thread
addf comp.9 servo-thread
addf comp.10 servo-thread
addf comp.11 servo-thread
addf comp.12 servo-thread
addf comp.13 servo-thread
addf comp.14 servo-thread
addf comp.15 servo-thread
addf comp.16 servo-thread
addf comp.17 servo-thread
addf comp.18 servo-thread
addf comp.19 servo-thread
addf comp.20 servo-thread
addf comp.21 servo-thread
addf comp.22 servo-thread
addf comp.23 servo-thread
addf comp.24 servo-thread
addf comp.25 servo-thread
addf comp.26 servo-thread
addf comp.27 servo-thread
addf comp.28 servo-thread
addf comp.29 servo-thread
addf comp.30 servo-thread
addf comp.31 servo-thread
addf comp.32 servo-thread
addf comp.33 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 and2.6 servo-thread
addf and2.7 servo-thread
addf and2.8 servo-thread
addf and2.9 servo-thread
addf and2.10 servo-thread
addf and2.11 servo-thread
addf and2.12 servo-thread
addf and2.13 servo-thread
addf and2.14 servo-thread
addf and2.15 servo-thread
addf and2.16 servo-thread
addf and2.17 servo-thread
addf and2.18 servo-thread
addf and2.19 servo-thread

addf mux4.0 servo-thread
addf mux4.1 servo-thread

#Boton x=0
setp comp.1.in0 -0.9297
setp comp.0.in1 -0.9295 
net zerox hidcomp.0.PIN1.fvalue comp.0.in0 comp.1.in1 comp.2.in1 comp.3.in0 comp.4.in0 comp.5.in1 comp.12.in0 comp.13.in1 comp.14.in0 comp.15.in1 comp.16.in0 comp.17.in1 comp.18.in0 comp.19.in1 comp.22.in0 comp.23.in1 

net zerox hidcomp.0.PIN1.fvalue comp.24.in0 comp.25.in1 comp.28.in0 comp.29.in1 comp.30.in0 comp.31.in1 comp.32.in0 comp.33.in1

net zerox3 and2.0.in0 comp.0.out
net zerox4 and2.0.in1 comp.1.out

net zerox5 halui.joint.0.home <= and2.0.out

#Boton y=0
setp comp.2.in0 -0.9217
setp comp.3.in1 -0.9215

net zeroy and2.1.in0 comp.2.out
net zeroy2 and2.1.in1 comp.3.out

net zeroy3 halui.joint.1.home and2.1.out

#Boton z=0
setp comp.4.in1 -0.9137
setp comp.5.in0 -0.9139

net zeroz and2.2.in0 comp.4.out
net zeroz2 and2.2.in1 comp.5.out

net zeroz3 halui.joint.2.home and2.2.out


#Spring-wheel. Selector de ejes.
#Eje x

setp comp.6.in1 -0.8667
setp comp.7.in0 -0.8669

net ejex and2.3.in0 comp.6.out
net ejex2 and2.3.in1 comp.7.out

net ejex3 axis.0.jog-enable halui.joint.0.select and2.16.in1 and2.3.out

net ejex4 hidcomp.0.PIN3.fvalue comp.6.in0 comp.7.in1 comp.8.in0 comp.9.in1 comp.10.in0 comp.11.in1 

#Eje y

setp comp.8.in1 -0.858
setp comp.9.in0 -0.860

net ejey and2.4.in0 comp.9.out
net ejey2 and2.4.in1 comp.8.out

net ejey3 axis.1.jog-enable halui.joint.1.select and2.17.in1 and2.4.out

#Eje z

setp comp.10.in1 -0.850
setp comp.11.in0 -0.852

net ejez and2.5.in0 comp.10.out
net ejez2 and2.5.in1 comp.11.out

net ejez3 axis.2.jog-enable halui.joint.2.select and2.18.in1 and2.5.out

#Para diferentes longitudes por pulso
#Para Media (la lenta la coge sin pulsar nada) Lenta 0.005 Media 0.05 Rapida 0.1

setp mux4.0.in0 0.0001234335
setp mux4.0.in1 0.001234335
setp mux4.0.in2 0.00246867

setp comp.13.in0 -0.8983
setp comp.12.in1 -0.8981

net velmed and2.6.in0 comp.12.out
net velmed2 and2.6.in1 comp.13.out

net velmed3 mux4.0.sel0 and2.6.out

#Para Rapida

setp comp.14.in1 -0.8901
setp comp.15.in0 -0.8903

net velrapid and2.7.in0 comp.14.out
net velrapid2 and2.7.in1 comp.15.out

net velrapid3 mux4.0.sel1 and2.7.out 


net velmed4 axis.0.jog-scale axis.1.jog-scale axis.2.jog-scale mux4.0.out


#Para movimiento por avance

setp mux4.1.in0 200
setp mux4.1.in1 500
setp mux4.1.in2 900

#Para el medio (el lento se acciona solo)


setp comp.16.in1 -0.905
setp comp.17.in0 -0.907 

net jogmed and2.8.in0 comp.16.out
net jogmed2 and2.8.in1 comp.17.out

net jogmed3 mux4.1.sel0 and2.8.out



#Para el rapido

setp comp.18.in1 -0.952
setp comp.19.in0 -0.954

net jogfast and2.9.in0 comp.18.out
net jogfast2 and2.9.in1 comp.19.out

net jogfast3 mux4.1.sel1 and2.9.out


net jogmed4 halui.jog-speed mux4.1.out



#Jog por avance, botones mas y menos para eje seleccionado

#boton plus

setp comp.20.in1 -0.9687
setp comp.21.in0 -0.9689

net plus and2.10.in0 comp.21.out
net plus2 and2.10.in1 comp.20.out





setp comp.22.in1 -0.9687
setp comp.23.in0 -0.9689

net plus4 and2.11.in0 comp.22.out
net plus5 and2.11.in1 comp.23.out

net plus7 or2.0.in1 and2.10.out
net plus6 or2.0.in0 and2.11.out

net plus3 halui.jog.selected.plus or2.0.out

#boton minus

setp comp.24.in1 -0.9373
setp comp.25.in0 -0.9375

net minus and2.12.in0 comp.24.out
net minus2 and2.12.in1 comp.25.out



setp comp.26.in1 -0.9373
setp comp.27.in0 -0.9375

net minus3 and2.13.in0 comp.26.out
net minus4 and2.13.in1 comp.27.out

net minus5 or2.1.in1 and2.12.out
net minus6 or2.1.in0 and2.13.out

net minus7 halui.jog.selected.minus or2.1.out


net pulsed hidcomp.0.PIN2.fvalue comp.20.in0 comp.21.in1 comp.26.in0 comp.27.in1

#Para seleccionar el eje esta hecho antes en la seleccion de la jogwheel

#Boton Estop

setp comp.28.in1 -0.8197
setp comp.29.in0 -0.8199

net estop and2.14.in1 comp.28.out
net estop1 and2.14.in0 comp.29.out

net estop3 halui.estop.activate and2.14.out

#Para MDI-command = ir a 0 en cada eje, segun selector.

#Eje x

setp comp.30.in1 -0.9607
setp comp.31.in0 -0.9609

net gozerox and2.15.in1 comp.30.out
net gozerox2 and2.15.in0 comp.31.out

net gozerox3 and2.16.in0 and2.17.in0 and2.18.in0 and2.15.out

net gozerox4 halui.mdi-command-00 and2.16.out

#Eje y

net gozery halui.mdi-command-01 and2.17.out 

#Eje z

net gozeroz halui.mdi-command-02 and2.18.out

#Todos los ejes a la vez

setp comp.32.in1 -0.8823
setp comp.33.in0 -0.8825

net axis and2.19.in0 comp.32.out
net axis2 and2.19.in1 comp.33.out

net axis3 halui.mdi-command-03 and2.19.out



#Para jog-wheel

net bazura wheel.0.raw-val hidcomp.0.PIN4.raw 


net x-jog wheel.0.jog-counts axis.0.jog-counts axis.1.jog-counts axis.2.jog-counts

#Faltan 4 botones para poder unir mas pines en un futuro.


Buttons do not do what the picture of the buttons show, but i think is better organized. You can test it like that and if you don´t like it you can change the buttons modifying the hal code.

To make this hal code works, you have also to compile this fantastic component that Andy Pugh wrote for me (thank you andy)

component wheel "pendant jogwheel thingy";

pin in signed raw-val;
pin out signed jog-counts;

function _;

author "andy pugh";
license "GPL";

;;
FUNCTION(_){
char v;
v=raw_val;
jog_counts += v;
}

The component file is called wheel.comp

Also you have to add to the file.ini of your system these lines:

[HALUI]
MDI_COMMAND = G0 X0 
MDI_COMMAND = G0 Y0
MDI_COMMAND = G0 Z0
MDI_COMMAND = G0 X0 Y0