Smoother jog

# Jog Pendant
loadrt encoder num_chan=1


addf encoder.capture-position servo-thread
addf encoder.update-counters base-thread

loadrt mux4 count=1
addf mux4.0 servo-thread

 # for absolute mode (for every click you get a move ie, if you spin the dial it may keep moving after you stop the dial)
 # default so does not need to be set
 #axis.N.jog-vel-mode 0

 # for velocity mode (when you stop spinning the dial the axis stops)
 # must be set for each axis
setp axis.0.jog-vel-mode 1
setp axis.1.jog-vel-mode 1
setp axis.2.jog-vel-mode 1
# setp axis.3.jog-vel-mode 1



 # "times 4 mode" one count per full quadrature cycle, instead of the usual one count per edge.  
 # mpg jog wheels often have a full quadrature cycle per "click". 0 for off and 1 for on.
setp encoder.1.x4-mode 0

setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
# setp mux4.0.in2 0.01

## temp to test radio btns

net scale1 mux4.0.sel0 <= parport.1.pin-08-in
#net scale2 mux4.0.sel1 <= parport.1.pin-11-in-not
### net scale3 mux4.0.sel2 

net pend-scale axis.0.jog-scale <= mux4.0.out
net pend-scale axis.1.jog-scale
net pend-scale axis.2.jog-scale

net mpg-a encoder.1.phase-A <= parport.1.pin-13-in
net mpg-b encoder.1.phase-B <= parport.1.pin-15-in

net mpg-x axis.0.jog-enable <= parport.1.pin-03-in-not
net mpg-y axis.1.jog-enable <= parport.1.pin-04-in-not
net mpg-z axis.2.jog-enable <= parport.1.pin-05-in-not
net mpg-4 axis.3.jog-enable <= parport.1.pin-06-in-not

net pend-counts axis.0.jog-counts <= encoder.1.counts
net pend-counts axis.1.jog-counts
net pend-counts axis.2.jog-counts

# ---jogwheel signals to mesa encoder - shared MPG---

#	MPG has 5V+ GND A+ B+ all from BOB attached to P2 (header) of 5i25
#
#	Using hm2_5i25.0.encoder.01
#
#	Wire with 12v feed to centre of handset switches (originally GND)
#	Outputs wired as below to 7i76 inputs
#	This is because will not work on 5v TTL signals, need > 8v
#

net joint-selected-count     <=  hm2_5i25.0.encoder.01.count

setp hm2_5i25.0.encoder.01.counter-mode true  # single step

#  ---mpg signals---

#       for axis x MPG
setp    axis.0.jog-vel-mode 0
net selected-jog-incr    =>  axis.0.jog-scale
net joint-select-a       =>  axis.0.jog-enable
net joint-selected-count =>  axis.0.jog-counts

#       for axis y MPG
setp    axis.1.jog-vel-mode 0
net selected-jog-incr    =>  axis.1.jog-scale
net joint-select-b       =>  axis.1.jog-enable
net joint-selected-count =>  axis.1.jog-counts

#       for axis z MPG
setp    axis.2.jog-vel-mode 0
net selected-jog-incr    =>  axis.2.jog-scale
net joint-select-c       =>  axis.2.jog-enable
net joint-selected-count =>  axis.2.jog-counts

# connect selectable mpg jog increments 

net jog-incr-a           =>  jogincr.sel0
net jog-incr-b           =>  jogincr.sel1
net jog-incr-c           =>  jogincr.sel2
net jog-incr-d           =>  jogincr.sel3
net selected-jog-incr    <=  jogincr.out-f
    setp jogincr.use-graycode      False
    setp jogincr.suppress-no-input False
    setp jogincr.in00          1.000000
    setp jogincr.in01          0.010000
    setp jogincr.in02          0.100000
    setp jogincr.in03          1.000000
    setp jogincr.in04          1.000000
    setp jogincr.in05          1.000000
    setp jogincr.in06          1.000000
    setp jogincr.in07          1.000000
    setp jogincr.in08          1.000000
    setp jogincr.in09          1.000000
    setp jogincr.in10          1.000000
    setp jogincr.in11          1.000000
    setp jogincr.in12          1.000000
    setp jogincr.in13          1.000000
    setp jogincr.in14          1.000000
    setp jogincr.in15          1.000000
    
# X    
net joint-select-a <=  hm2_5i25.0.7i76.0.0.input-09  

# Y
net joint-select-b <=  hm2_5i25.0.7i76.0.0.input-10

# Z
net joint-select-c <=  hm2_5i25.0.7i76.0.0.input-11

# 1.0
net jog-incr-a  <=  hm2_5i25.0.7i76.0.0.input-12

# 0.1
net jog-incr-b  <=  hm2_5i25.0.7i76.0.0.input-13

# 0.01
net jog-incr-c  <=  hm2_5i25.0.7i76.0.0.input-14