LCNC 2.9.5 - How to jog with a wireless xbox bt controller
21 Sep 2025 12:21 #335241
by phew
LCNC 2.9.5 - How to jog with a wireless xbox bt controller was created by phew
Hey,
I am trying to set up my xbox controller to jog a three axis machine (y-gantry). Using a bluetooth dongle I had to fiddle around a bit (and install xpadneo) to get the controller to connect to the system but I eventually got there and do see input when pressing buttons/moving the joysticks.
I was digging into LinuxCNC a few years ago but then life happened and I had to put the project on ice up until now. This is my first home-built CNC (wood router) and I am very new to all of this.
My goal is to be able to move the X, Y (gantry) and Z axis using the gaming controller when there is no gcode being executed.
Currently this is a parport setup and the stepper motors are not actually installed on ball screws so I do not mess up anything while testing. I am planning on switching to a mesa card in the near future.
xyyz.ini (machine basic setup)
xyyz.hal:
xbox.hal
With this setup I can see input from the controller in halshow:
However, joint.*.vel-cmd always stays 0 and obviously the stepper motors are not spinning. Also I am not sure what mode I have to use, but I also tried setting halui.mode.manual and halui.mode.teleop using the [Set] button in halshow, but this did not change anything.
Setting it up like this will not allow the machine to start when the Xbox Controller is not connected as it expects the controller to be found. The controller will shut itself off if not being used for a certain period of time and this will also result in an error popping up in axis ui.
I think my current approach is way more complicated and clumsy than it actually needs to be, but the learning curve seems to be pretty steep for me and therefore I probably resorted to using way more AI generated code than I should have.
How do I
I am trying to set up my xbox controller to jog a three axis machine (y-gantry). Using a bluetooth dongle I had to fiddle around a bit (and install xpadneo) to get the controller to connect to the system but I eventually got there and do see input when pressing buttons/moving the joysticks.
I was digging into LinuxCNC a few years ago but then life happened and I had to put the project on ice up until now. This is my first home-built CNC (wood router) and I am very new to all of this.
My goal is to be able to move the X, Y (gantry) and Z axis using the gaming controller when there is no gcode being executed.
Currently this is a parport setup and the stepper motors are not actually installed on ball screws so I do not mess up anything while testing. I am planning on switching to a mesa card in the near future.
phew@linuxcnc:~$ sudo lsusb
Bus 001 Device 002: ID 2357:0604 TP-Link TP-Link Bluetooth USB Adapter
phew@linuxcnc:~$ sudo dkms status
hid-xpadneo/v0.9-226-ga16acb0, 6.1.0-39-rt-amd64, x86_64: installed
phew@linuxcnc:~$ sudo dmesg | grep -i xbox
[ 41.033957] input: Xbox Wireless Controller as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input16
[ 41.034076] hid-generic 0005:045E:0B13.0007: input,hidraw6: BLUETOOTH HID v5.23 Gamepad [Xbox Wireless Controller] on 98:03:8e:4f:32:fd
[ 41.094172] input: Xbox Wireless Controller as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input17
[ 41.094277] xpadneo 0005:045E:0B13.0007: input,hidraw6: BLUETOOTH HID v11.30 Gamepad [Xbox Wireless Controller] on 98:03:8e:4f:32:fd
[ 41.094307] input: Xbox Wireless Controller Consumer Control as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input18
[ 41.094367] input: Xbox Wireless Controller Keyboard as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input19
[ 42.076531] xpadneo 0005:045E:0B13.0007: Xbox Wireless Controller [14:cb:65:c7:03:1e] connected
[ 42.206305] input: Xbox Wireless Controller as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input20
[ 42.206585] xpadneo 0005:045E:0B13.0007: input,hidraw6: BLUETOOTH HID v11.30 Gamepad [Xbox Wireless Controller] on 98:03:8e:4f:32:fd
[ 42.206615] input: Xbox Wireless Controller Consumer Control as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input21
[ 42.206743] input: Xbox Wireless Controller Keyboard as /devices/virtual/misc/uhid/0005:045E:0B13.0007/input/input22
[ 43.189177] xpadneo 0005:045E:0B13.0007: Xbox Wireless Controller [14:cb:65:c7:03:1e] connectedxyyz.ini (machine basic setup)
# Generated by stepconf 1.1 at Thu Sep 11 20:35:55 2025
# If you make changes to this file, they will be
# overwritten when you run stepconf again
[EMC]
MACHINE = xyyz
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 10.0
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 50.0
CYCLE_TIME = 0.100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/phew/linuxcnc/nc_files
INCREMENTS = 20mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=both
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000
[HAL]
HALUI = halui
HALFILE = xyyz.hal
HALFILE = custom.hal
HALFILE = xbox.hal
POSTGUI_HALFILE = postgui_call_list.hal
MDI_COMMAND = G0 X0
MDI_COMMAND = G0 Y0
MDI_COMMAND = G0 Z0
JOINT_0 = X
JOINT_1 = Y
JOINT_2 = Y
JOINT_3 = Z
[TRAJ]
COORDINATES = X Y Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 25.0
MIN_LIMIT = -0.001
MAX_LIMIT = 800.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 800.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1875.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 2.0
HOME_OFFSET = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 25.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1875.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 2.0
HOME_OFFSET = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1875.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 2.0
HOME_OFFSET = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 10.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.001
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 1000.0
STEPGEN_MAXACCEL = 1875
SCALE = 160
FERROR = 1
MIN_FERROR = .25
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = -2.0
HOME_OFFSET = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YESxyyz.hal:
loadrt [KINS]KINEMATICS kinstype=both
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="1 out+in"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=1
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
net x-home-raw parport.0.pin-11-in
net x-home-raw => joint.0.home-sw-in
#net x-home-raw => joint.0.neg-lim-sw-in
# net x-home-raw => joint.0.pos-lim-sw-in # optional
net y0-home-raw parport.0.pin-12-in
net y0-home-raw => joint.1.home-sw-in
#net y0-home-raw => joint.1.neg-lim-sw-in
net y1-home-raw parport.0.pin-13-in
net y1-home-raw => joint.2.home-sw-in
#net y1-home-raw => joint.2.neg-lim-sw-in
net z-home-raw parport.0.pin-15-in
net z-home-raw => joint.3.home-sw-in
#net z-home-raw => joint.3.neg-lim-sw-in
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 40000
setp stepgen.0.dirsetup 40000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep stepgen.0.step => parport.0.pin-02-out
net xdir stepgen.0.dir => parport.0.pin-03-out
net xenable joint.0.amp-enable-out => stepgen.0.enable
net y-enable joint.1.amp-enable-out
net y-enable => stepgen.1.enable
net y-enable => stepgen.2.enable
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 40000
setp stepgen.1.dirsetup 40000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net y0step stepgen.1.step => parport.0.pin-04-out
net y0dir stepgen.1.dir => parport.0.pin-05-out
setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 40000
setp stepgen.2.dirsetup 40000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net y1pos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net y1pos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net y1step stepgen.2.step => parport.0.pin-06-out
net y1dir stepgen.2.dir => parport.0.pin-07-out
setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 40000
setp stepgen.3.dirsetup 40000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep stepgen.3.step => parport.0.pin-08-out
net zdir stepgen.3.dir => parport.0.pin-09-out
net zenable joint.3.amp-enable-out => stepgen.3.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-inxbox.hal
loadusr -W hal_input -KRAL Xbox
loadrt scale count=3
addf scale.0 servo-thread
addf scale.1 servo-thread
addf scale.2 servo-thread
setp scale.0.gain 50.0 # X
setp scale.1.gain 50.0 # Y
setp scale.2.gain 50.0 # Z
loadrt mult2 count=3
addf mult2.0 servo-thread
addf mult2.1 servo-thread
addf mult2.2 servo-thread
loadrt conv_bit_float
addf conv-bit-float.0 servo-thread
net xbox-x-raw input.0.abs-x-position => scale.0.in
net xbox-y-raw input.0.abs-y-position => scale.1.in
net xbox-z-raw input.0.abs-ry-position => scale.2.in
net xbox-x-scaled scale.0.out => mult2.0.in0
net xbox-y-scaled scale.1.out => mult2.1.in0
net xbox-z-scaled scale.2.out => mult2.2.in0
net xbox-jog-bit input.0.btn-a => conv-bit-float.0.in
net xbox-jog-float conv-bit-float.0.out => mult2.0.in1
net xbox-jog-float => mult2.1.in1
net xbox-jog-float => mult2.2.in1
net xbox-x-vel mult2.0.out => joint.0.jog-scale # X
net xbox-y-vel mult2.1.out => joint.1.jog-scale # Y (Y0)
net xbox-y-vel => joint.2.jog-scale # Y (Y1)
net xbox-z-vel mult2.2.out => joint.3.jog-scale # Z
# Press [A]-button to enable joints
net xbox-jog-bit => joint.0.jog-enable
net xbox-jog-bit => joint.1.jog-enable
net xbox-jog-bit => joint.2.jog-enable
net xbox-jog-bit => joint.3.jog-enable
setp joint.0.jog-vel-mode TRUE
setp joint.1.jog-vel-mode TRUE
setp joint.2.jog-vel-mode TRUE
setp joint.3.jog-vel-mode TRUE
net xbox-x-vel => halui.axis.x.analog
net xbox-y-vel => halui.axis.y.analog
net xbox-z-vel => halui.axis.z.analogWith this setup I can see input from the controller in halshow:
However, joint.*.vel-cmd always stays 0 and obviously the stepper motors are not spinning. Also I am not sure what mode I have to use, but I also tried setting halui.mode.manual and halui.mode.teleop using the [Set] button in halshow, but this did not change anything.
Setting it up like this will not allow the machine to start when the Xbox Controller is not connected as it expects the controller to be found. The controller will shut itself off if not being used for a certain period of time and this will also result in an error popping up in axis ui.
I think my current approach is way more complicated and clumsy than it actually needs to be, but the learning curve seems to be pretty steep for me and therefore I probably resorted to using way more AI generated code than I should have.
How do I
- set this up correctly so the Xbox Controller input can actually controll the X, Y and Z axis?
- set this up in a way so the controller does not need to be connected in order for the machine to start and won't result in an error when the controller disconnects for some reason
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