Sure, no problem:
Code:
component voorpaneel "Driver for DaBit Emco8 front panel";
option userspace yes;
option extra_link_args "-lPoKeys -lusb-1.0 -lm";
pin out bit isconnected "true when the pokeys device is found and connected";
pin out bit chgpump_out "toggling charge pump output. May be used to check if the component is alive";
pin out bit jog_z_up "Joystick z-up direction";
pin out bit jog_z_down "Joystick z-down direction";
pin out bit jog_x_up "Joystick x-up direction";
pin out bit jog_x_down "Joystick x-down direction";
pin out bit jog_sel_speed1 "connect the jog-sel-speedX pins to gmoccapy jog-inc-X";
pin out bit jog_sel_speed2;
pin out bit jog_sel_speed3;
pin out bit jog_sel_speed4;
pin out signed wheel_jog_x_counts "X axis handwheel jog counts";
pin out signed wheel_jog_z_counts "Z axis handwheel jog counts";
pin out float wheel_jog_scale "jogwheel scale, 1/0.1/0.01/0.001 machine units";
pin out float jogspeed_slider "Jogspeed pot output, range 0.0-1.0. Connect to gmoccapy.jog-vel-value";
pin out float rapidspeed_slider "Rapidspeed pot output, range 0.0-1.0. Connect to gmoccapy.rapid-vel-value";
pin out float feedspeed_slider "feedspeed pot output, range 0.0-1.0. Connect to gmoccapy.feed-override-value";
license "GPL";
;;
#include "PoKeysLib.h"
#include <unistd.h> /* UNIX standard function definitions */
#include "math.h"
#define POT_EPSILON 0.005
#define POT_AVGCNT 4
int first = 1;
sPoKeysDevice * dev=0;
int i=0, avgidx=0;
float avg_jog[POT_AVGCNT];
float avg_feed[POT_AVGCNT];
float avg_rapid[POT_AVGCNT];
void user_mainloop(void)
{
while(1){
float ftmp;
FOR_ALL_INSTS() {
isconnected = (dev!=NULL);
if(first){
dev = PK_ConnectToDeviceWSerial(23249, 1000); /* Oh well, for personal use adding the serial in code is OK */
if (dev) {
PK_PinConfigurationGet(dev);
PK_EncoderConfigurationGet(dev);
usleep(50000);
first=0;
}
} else if (dev) {
/* Fetch values from Pokeys device */
if (PK_EncoderValuesGet(dev) != PK_OK) { dev=NULL; }
if (PK_DigitalIOGet(dev) != PK_OK) { dev=NULL; }
if (PK_AnalogIOGet(dev) != PK_OK) { dev=NULL; }
if (dev) {
/* joystick pins. Note that indexes are one lower than the pokeys pin number */
jog_z_up = dev->Pins[31].DigitalValueGet;
jog_z_down = dev->Pins[32].DigitalValueGet;
jog_x_up = dev->Pins[29].DigitalValueGet;
jog_x_down = dev->Pins[30].DigitalValueGet;
jog_sel_speed1 = dev->Pins[39].DigitalValueGet;
jog_sel_speed2 = dev->Pins[38].DigitalValueGet;
jog_sel_speed3 = dev->Pins[37].DigitalValueGet;
jog_sel_speed4 = dev->Pins[36].DigitalValueGet;
/* feed overrides. ain-4 is jogspeed, 5 is rapid, 6 is feed */
ftmp=0; avg_jog[avgidx] = ((float)dev->Pins[44].AnalogValue) / 4095.0;
for (i=0;i<POT_AVGCNT;i++) ftmp+=(1.0/(float)POT_AVGCNT)*avg_jog[i];
if (fabs(jogspeed_slider - ftmp) > POT_EPSILON)
jogspeed_slider = ftmp;
ftmp=0; avg_rapid[avgidx] = ((float)dev->Pins[45].AnalogValue) / 4095.0;
for (i=0;i<POT_AVGCNT;i++) ftmp+=(1.0/(float)POT_AVGCNT)*avg_rapid[i];
if (fabs(rapidspeed_slider - ftmp) > POT_EPSILON)
rapidspeed_slider = ftmp;
ftmp=0; avg_feed[avgidx]= ((float)dev->Pins[46].AnalogValue) / 4095.0;
for (i=0;i<POT_AVGCNT;i++) ftmp+=(1.0/(float)POT_AVGCNT)*avg_feed[i];
if (fabs(feedspeed_slider - ftmp) > POT_EPSILON)
feedspeed_slider = ftmp;
if (++avgidx >= POT_AVGCNT) avgidx=0;
/* handwheels */
wheel_jog_x_counts = dev->Encoders[0].encoderValue;
wheel_jog_z_counts = dev->Encoders[1].encoderValue;
ftmp=0;
if (dev->Pins[54].DigitalValueGet) ftmp += 1.0;
else if (dev->Pins[52].DigitalValueGet) ftmp += 0.1;
else if (dev->Pins[51].DigitalValueGet) ftmp += 0.01;
else if (dev->Pins[50].DigitalValueGet) ftmp += 0.001;
wheel_jog_scale = ftmp;
//for(i=0;i<55;i++)dev->Pins[i].DigitalValueSet=out(i);
//PK_DigitalIOSet(dev);
chgpump_out = !chgpump_out;
usleep(50000);
}
} else {
/* No device handle. Setup default values */
jog_z_up = false;
jog_z_down = false;
jog_x_up = false;
jog_x_down = false;
jog_sel_speed1 = true;
jog_sel_speed2 = false;
jog_sel_speed3 = false;
jog_sel_speed4 = false;
jogspeed_slider = 0.5;
rapidspeed_slider = 0.5;
feedspeed_slider = 0.5;
/* Restart init */
first = 1;
}
}
}
exit(0);
}
Mind you: this is a purpose-written component, not very generic. However, it should be easy to adapt to your situation.
To compile this run 'sudo halcompile --install voorpaneel.comp' (or without the sudo if you are running a RIP install). You will need libusb-1.0.0-dev and the 'mbosnak' PoKeys library.
