Joypad Joint and Cartesian Mode Jogging

I have a 5-DOF robot.  I have my Joypad setup so that in World/Cartesian, the left joystick is X and Y, the right Z.  I have the directions relative a 1st person POV.  This works as I intended.

When I switch to joint mode in Axis The individual axis that jogs is not natural and I would like to change that for joint mode jogging.

Is there a way to make the "input." assignments from the joypad conditional, one assignment set for World, another for Joint mode? 

 

 

andypugh post=301654 userid=723
net jog-x input.0.analog0 axis.x.jog-analog joint.0.jog-analog

You just need to swap the joint letters and axis numbers to suit your requirements.
 

Andy,  That would make it a permanent change no? 
 
I'm looking to be able to toggle the joypad behavior based on the current jog mode mode World/Joint.  Is that possible, a sort of "IF" statement  in HAL?
 

For switchkins (which you are probably using) you could connect your respective jogging input pins to 'kinstype.is-0' / 'kinstype.is-1' by means of an 'and2' component.