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5 button select pendant
6 years 2 months ago #179839
by OT-CNC
5 button select pendant was created by OT-CNC
Hi,
I'm modifying a mpg pendant code to read 5 momentary push buttons (NO) to activate the axis select. My previous hal (example attached) has a mux4 selector switch which will not work for this. What's the easiest solution? Mux_generic? Will that work with momentary push buttons? X, Y, Z, B, C. Also, do I need a debounce for this?
Anyone have a section of sample code I could implement?
TIA
I'm modifying a mpg pendant code to read 5 momentary push buttons (NO) to activate the axis select. My previous hal (example attached) has a mux4 selector switch which will not work for this. What's the easiest solution? Mux_generic? Will that work with momentary push buttons? X, Y, Z, B, C. Also, do I need a debounce for this?
Anyone have a section of sample code I could implement?
TIA
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6 years 2 months ago #180081
by OT-CNC
Replied by OT-CNC on topic 5 button select pendant
Some more info, this is for gantry setup with twin Y. I was looking over the docs:
linuxcnc.org/docs/2.8/html/getting-start...dating-linuxcnc.html
I guess I need this to work in both teleop and joint jogging? I need to adapt this later to 5axiskins so I'd like some guidance on what build on.
The mpg will only have one Y button and need it linked to both Y and Y2 for jogging after homing.
linuxcnc.org/docs/2.8/html/getting-start...dating-linuxcnc.html
I guess I need this to work in both teleop and joint jogging? I need to adapt this later to 5axiskins so I'd like some guidance on what build on.
The mpg will only have one Y button and need it linked to both Y and Y2 for jogging after homing.
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6 years 1 month ago #181164
by OT-CNC
Replied by OT-CNC on topic 5 button select pendant
I completed wiring up the remote pendant. I think I got it to work close to what I want. I can't fully test it yet as it's not hooked up to the machine, just to 7i77 on the bench for now. The HAL configuration seems to indicate that both y axes are indeed jogging together.
Can someone look it over please and give me heads up if I missed something obvious? I'd like to transfer this over to the machine and at some point to 5axiskins and don't want to rack the Y. Lacking 5 axis experience, I assume jogging will only occur in axis mode not joint?
The other item is, I'd like a possible option on the behavior of the halui.axis.L.select. On startup there is always X selected. The X changes when selecting another axis as expected. I would like the switch to be momentary latching. In other words, I would like to be able to turn off the selected X by pressing the same button again to deselect it. I assume I can't change this behavior as it's internal?
Hal attached.Some items left out (scale, loadrt, addf, counts etc) if you're copying/pasting. I may add final hal later if it works as planned.
Can someone look it over please and give me heads up if I missed something obvious? I'd like to transfer this over to the machine and at some point to 5axiskins and don't want to rack the Y. Lacking 5 axis experience, I assume jogging will only occur in axis mode not joint?
The other item is, I'd like a possible option on the behavior of the halui.axis.L.select. On startup there is always X selected. The X changes when selecting another axis as expected. I would like the switch to be momentary latching. In other words, I would like to be able to turn off the selected X by pressing the same button again to deselect it. I assume I can't change this behavior as it's internal?
Hal attached.Some items left out (scale, loadrt, addf, counts etc) if you're copying/pasting. I may add final hal later if it works as planned.
Code:
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
#net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
#net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net y2-is-homed halui.joint.2.is-homed
#net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.3.is-homed
#net axis-select-b halui.axis.b.select
net jog-b-pos halui.axis.b.plus
net jog-b-neg halui.axis.b.minus
net jog-b-analog halui.axis.b.analog
net b-is-homed halui.joint.4.is-homed
#net axis-select-c halui.axis.c.select
net jog-c-pos halui.axis.c.plus
net jog-c-neg halui.axis.c.minus
net jog-c-analog halui.axis.c.analog
net c-is-homed halui.joint.5.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
#################################################################
####### Remote Pendant #######
# ---jogwheel MPG signals to mesa encoder Shared MPG---
# mode1 is velocity mode, mode 0 is position and will continue to move.
setp axis.x.jog-vel-mode 1
setp axis.y.jog-vel-mode 1
setp axis.z.jog-vel-mode 1
setp axis.b.jog-vel-mode 1
setp axis.c.jog-vel-mode 1
# scale select
net scale1 mux4.0.sel0 <= [HMOT](CARD0).7i77.0.0.input-20
net scale2 mux4.0.sel1 <= [HMOT](CARD0).7i77.0.0.input-21
setp mux4.0.in0 0.0000005
setp mux4.0.in1 0.0000015
setp mux4.0.in2 0.0000010
setp mux4.0.in3 0.0000100
# connection to mesa enc0, pin 16,17
net mpg-out ilowpass.0.in <= [HMOT](CARD0).7i77.0.0.enc0.count
############### (A)jog enable with 5 NO push buttons, have to maintain button press durin MPG jog ########
# --- AXIS-SELECT-X---
#net mpg-x => axis.x.jog-enable <= [HMOT](CARD0).7i77.0.0.input-26 => [HMOT](CARD0).7i77.0.0.output-10
# --- AXIS-SELECT-Y--
#net mpg-y => axis.y.jog-enable <= [HMOT](CARD0).7i77.0.0.input-27 => [HMOT](CARD0).7i77.0.0.output-11
# --- AXIS-SELECT-Z---
#net mpg-z => axis.z.jog-enable <= [HMOT](CARD0).7i77.0.0.input-28 => [HMOT](CARD0).7i77.0.0.output-12
# --- AXIS-SELECT-B---
#net mpg-b => axis.b.jog-enable <= [HMOT](CARD0).7i77.0.0.input-29 => [HMOT](CARD0).7i77.0.0.output-13
# --- AXIS-SELECT-C---
#net mpg-c => axis.c.jog-enable <= [HMOT](CARD0).7i77.0.0.input-30 => [HMOT](CARD0).7i77.0.0.output-14
############### (B) jog enable 5 NO push buttons halui stays selected untill next button press #############
# --- AXIS-SELECT-X---
net mpg-x => halui.axis.x.select <= [HMOT](CARD0).7i77.0.0.input-26
net mpg-x_select_state => halui.axis.x.is-selected => axis.x.jog-enable => [HMOT](CARD0).7i77.0.0.output-10
# --- AXIS-SELECT-Y--
net mpg-y => halui.axis.y.select <= [HMOT](CARD0).7i77.0.0.input-27
net mpg-y_select_state => halui.axis.y.is-selected => axis.y.jog-enable => [HMOT](CARD0).7i77.0.0.output-11
# --- AXIS-SELECT-Z---
net mpg-z => halui.axis.z.select <= [HMOT](CARD0).7i77.0.0.input-28
net mpg-z_select_state => halui.axis.z.is-selected => axis.z.jog-enable => [HMOT](CARD0).7i77.0.0.output-12
# --- AXIS-SELECT-B---
net mpg-b => halui.axis.b.select <= [HMOT](CARD0).7i77.0.0.input-29
net mpg-b_select_state => halui.axis.b.is-selected => axis.b.jog-enable => [HMOT](CARD0).7i77.0.0.output-13
# --- AXIS-SELECT-C---
net mpg-c => halui.axis.c.select <= [HMOT](CARD0).7i77.0.0.input-30
net mpg-c_select_state => halui.axis.c.is-selected => axis.c.jog-enable => [HMOT](CARD0).7i77.0.0.output-14
##################################
net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
#net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale
net mpg-scale => axis.b.jog-scale
net mpg-scale => axis.c.jog-scale
##invert y mpg rotation ##
setp scale.1.gain -1
net mpg-scale scale.1.in
net mpg-scale-invert scale.1.out => axis.y.jog-scale
##
# ilowpass output is sent to each axis jog count
# only selected axis will move
# this is at beginning: loadrt ilowpass
#setp ilowpass.0 servo-thread
#setp ilowpass.0.scale 1000
#setp ilowpass.0.gain 0.020
net encoder-counts <= ilowpass.0.out
net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts
net encoder-counts => axis.b.jog-counts
net encoder-counts => axis.c.jog-counts
################
# connect pendant feed-override dial to mesa enc1 pin 18,19
net output [HMOT](CARD0).7i77.0.0.enc1.count => halui.feed-override.counts
setp halui.feed-override.count-enable 1
setp halui.feed-override.scale 0.02
################
##########################################################################################
####connect pendant set zero (origin) button to selected axis
net zero-set-button <= [HMOT](CARD0).7i77.0.0.input-22
addf and2.9 servo-thread
addf and2.10 servo-thread
addf and2.11 servo-thread
addf and2.12 servo-thread
addf and2.13 servo-thread
####### this works with (A) jog enable above ###########
#net mpg-x => and2.9.in0
#net zero-set-button => and2.9.in1
#net zero-x <= and2.9.out => halui.mdi-command-00
#net mpg-y => and2.10.in0
#net zero-set-button => and2.10.in1
#net zero-y <= and2.10.out => halui.mdi-command-01
#net mpg-z => and2.11.in0
#net zero-set-button => and2.11.in1
#net zero-z <= and2.11.out => halui.mdi-command-02
#net mpg-b => and2.12.in0
#net zero-set-button => and2.12.in1
#net zero-b <= and2.12.out => halui.mdi-command-03
#net mpg-c => and2.13.in0
#net zero-set-button => and2.13.in1
#net zero-c <= and2.13.out => halui.mdi-command-04
####### this works with (B) jog enable above ##########
net mpg-x_select_state => and2.9.in0
net zero-set-button => and2.9.in1
net zero-x <= and2.9.out => halui.mdi-command-00
net mpg-y_select_state => and2.10.in0
net zero-set-button => and2.10.in1
net zero-y <= and2.10.out => halui.mdi-command-01
net mpg-z_select_state => and2.11.in0
net zero-set-button => and2.11.in1
net zero-z <= and2.11.out => halui.mdi-command-02
net mpg-b_select_state => and2.12.in0
net zero-set-button => and2.12.in1
net zero-b <= and2.12.out => halui.mdi-command-03
net mpg-c_select_state => and2.13.in0
net zero-set-button => and2.13.in1
net zero-c <= and2.13.out => halui.mdi-command-04
#################
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