Thanks Todd, that's too bad. It would be nice to find some simple task to tackle.
In case it's of some help to the next person, here's how I hacked it in for the time being. Seems to work with jogs and feed overrides, but not as nicely integrated as with mill mode.
custom_postgui.hal
Code:
loadrt scale names=scale.x-vel,scale.z-vel
addf scale.x-vel servo-thread
addf scale.z-vel servo-thread
setp scale.x-vel.gain 60
setp scale.z-vel.gain 60
net x-velocity-ups axis.0.joint-vel-cmd scale.x-vel.in
net z-velocity-ups axis.2.joint-vel-cmd scale.z-vel.in
net x-velocity-upm scale.x-vel.out pyvcp.x-velocity-upm
net z-velocity-upm scale.z-vel.out pyvcp.z-velocity-upm
custompanel.xml
Code:
<hbox>
<label>
<text>"X Velocity"</text>
<font>("Helvetica", 20)</font>
</label>
<number>
<font>("Helvetica", 20)</font>
<halpin>"x-velocity-upm"</halpin>
<format>"+3.2f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"Z Velocity"</text>
<font>("Helvetica", 20)</font>
</label>
<number>
<font>("Helvetica", 20)</font>
<halpin>"z-velocity-upm"</halpin>
<format>"+3.2f"</format>
</number>
</hbox>
