I searched for some time on forum and wiki but I can't figure out how to set jog-scale from a set of pins.
I would like to set a jog-scale value when a specific pin is enabled, eg.
input 1 => 0.01
input 2 => 0.05
input 3 => 0.1
input 4 => 1
input 5 => 10
I found an example using 3 or2 to "rebuild" an integer from 2 pins to feed mux input but I want to use a 5-pos selector and this technique seems very complex in this case.
I didn't find in man pages a way to convert a set of bit into an integer but I may have missed something.
Here is a 7 axis MPG with scale and axis select.
We only have 4 axes so some selections do other things.
We use Mux4 for scale select and mux8 for axis select.
Its really just an extension of the code in the docs linked earlier
Warning: Spoiler!
Code:
# --- MPG JOG WHEELS FOR X AND Y AXIS ---
# ilowpass filter
setp ilowpass.0.scale 1
setp ilowpass.0.gain 0.01
# Setup Jog Pendant on each axis
setp axis.x.jog-vel-mode 0
setp axis.y.jog-vel-mode 0
setp axis.z.jog-vel-mode 0
# Scale Select
setp mux4.0.in0 0.0
setp mux4.0.in1 1.0
setp mux4.0.in2 0.01
setp mux4.0.in3 0.1
#Axis Select (0=off, 1=x, 2=z, 3=y, na, 5=6, 6=4, 7=5)
setp mux8.0.in0 0
setp mux8.0.in1 1
setp mux8.0.in2 2
setp mux8.0.in3 3
setp mux8.0.in4 4
setp mux8.0.in5 5
setp mux8.0.in6 6
setp mux8.0.in7 7
net mux8-sel0 <= hm2_7i76e.0.7i76.0.0.input-23
net mux8-sel1 <= hm2_7i76e.0.7i76.0.0.input-24
net mux8-sel2 <= hm2_7i76e.0.7i76.0.0.input-25
net mux8-sel0 => mux8.0.sel0
net mux8-sel1 => mux8.0.sel1
net mux8-sel2 => mux8.0.sel2
#setp conv-float-s32.0.clamp 0
net mux-float <= mux8.0.out
net mux-float => conv-float-s32.0.in
net mux-s32 <= conv-float-s32.0.out
net mux-s32 => select8.0.sel
net axis-select-x <= select8.0.out1
net axis-select-y <= select8.0.out3
net axis-select-z <= select8.0.out2
net axis-select-4 <= select8.0.out6
net axis-select-5 <= select8.0.out7
net axis-select-6 <= select8.0.out5
net axis-select-x => axis.x.jog-enable
net axis-select-y => axis.y.jog-enable
net axis-select-z => axis.z.jog-enable
net axis-select-4 => halui.feed-override.count-enable
net axis-select-6 => halui.rapid-override.count-enable
# Encoder counts
net jog-counter <= hm2_7i76e.0.7i76.0.0.enc0.count
net jog-counter => ilowpass.0.in
net smooth-counter <= ilowpass.0.out
#net jog-counter => axis.x.jog-counts
#net jog-counter => axis.y.jog-counts
#net jog-counter => axis.z.jog-counts
net smooth-counter => axis.x.jog-counts
net smooth-counter => axis.y.jog-counts
net smooth-counter => axis.z.jog-counts
net smooth-counter => halui.feed-override.counts
net smooth-counter => halui.rapid-override.counts
net mux4-sel1 <= hm2_7i76e.0.7i76.0.0.input-22
net mux4-sel0 <= hm2_7i76e.0.7i76.0.0.input-21
net mux4-sel1 => mux4.0.sel1
net mux4-sel0 => mux4.0.sel0
net jog-scale <= mux4.0.out
net jog-scale => axis.x.jog-scale
net jog-scale => axis.y.jog-scale
net jog-scale => axis.z.jog-scale
net jog-scale => halui.feed-override.scale
net jog-scale => halui.rapid-override.scale
