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# Jog Pendant
loadrt encoder num_chan=1
loadrt mux4 count=1
addf encoder.capture-position servo-thread
addf encoder.update-counters servo-thread
addf mux4.0 servo-thread

# If your MPG outputs a quadrature signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
setp encoder.0.x4-mode 0

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp joint.0.jog-vel-mode 0
setp joint.1.jog-vel-mode 0
setp joint.2.jog-vel-mode 0

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= remora.input.9
net scale2 mux4.0.sel1 <= remora.input.10

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => joint.0.jog-scale
net mpg-scale => joint.1.jog-scale
net mpg-scale => joint.2.jog-scale
#net mpg-scale => axis.a.jog-scale
#net mpg-scale => axis.c.jog-scale

# The MPG inputs
net mpg-a encoder.0.phase-A <= remora.input.7
net mpg-b encoder.0.phase-B <= remora.input.8

# The Axis select inputs
net mpg-x joint.0.jog-enable <= remora.input.11
net mpg-y joint.1.jog-enable <= remora.input.12
net mpg-z joint.2.jog-enable <= remora.input.13
#net mpg-a axis.a.jog-enable <= remora.input.14
#net mpg-c axis.c.jog-enable <= remora.input.15

# The encoder output counts to the axis. Only the selected axis will move.
net encoder-counts  <= encoder.0.counts
net encoder-counts => joint.0.jog-counts
net encoder-counts => joint.1.jog-counts
net encoder-counts => joint.2.jog-counts
#net encoder-counts => axis.c.jog-counts