Include your customized HAL commands here
#7i92 mesa


# change number of encoders here
  loadrt encoder num_chan=4

  addf encoder.capture-position servo-thread
  addf encoder.update-counters servo-thread


# MPG stuff here
####  load ilowpass for mpg smoothing  ###

loadrt   ilowpass names=ilowpass.mpgX,ilowpass.mpgY,ilowpass.mpgZ

addf     ilowpass.mpgX  servo-thread
addf     ilowpass.mpgY  servo-thread
addf     ilowpass.mpgZ  servo-thread

setp ilowpass.mpgX.scale   1
setp ilowpass.mpgX.gain   0.1

setp ilowpass.mpgY.scale   1
setp ilowpass.mpgY.gain   0.1

setp ilowpass.mpgZ.scale   1
setp ilowpass.mpgZ.gain   0.1


# for velocity mode      (when you stop spinning the dial the axis stops)
# must be set for each axis
#setp joint.0.jog-vel-mode 1
setp axis.x.jog-vel-mode 1

#setp joint.1.jog-vel-mode 1
setp axis.y.jog-vel-mode 1

#setp joint.2.jog-vel-mode 1
setp axis.z.jog-vel-mode 1

 # "times 4 mode" one count per full quadrature cycle, instead of the usual one count per edge.  
 # mpg jog wheels often have a full quadrature cycle per "click". 0 for off and 1 for on.

   setp encoder.0.x4-mode 0
   setp encoder.1.x4-mode 0
   setp encoder.2.x4-mode 0

#set axis to the required increment ( 0.01) 

 net jog-inc-x  joint.0.jog-scale axis.x.jog-scale 
  sets jog-inc-x 0.001

 net jog-inc-y  joint.1.jog-scale axis.y.jog-scale 
  sets jog-inc-y 0.01

  net jog-inc-z  joint.2.jog-scale axis.z.jog-scale 
  sets jog-inc-z 1.0

#set inputs to 7i92
#also note these are on the second (P1)

#encoder X 
net mpg-xa encoder.0.phase-A <=  hm2_7i92.0.gpio.018.in
net mpg-xb encoder.0.phase-B <=  hm2_7i92.0.gpio.020.in

#encoder Y 
net mpg-ya encoder.1.phase-A <=  hm2_7i92.0.gpio.022.in
net mpg-yb encoder.1.phase-B <=  hm2_7i92.0.gpio.024.in

#encoder Z 
net mpg-za encoder.2.phase-A <=  hm2_7i92.0.gpio.025.in
net mpg-zb encoder.2.phase-B <=  hm2_7i92.0.gpio.026.in

# send mpg-encoder counts to required axis

# x encoder
net    pend-counts-x      encoder.0.counts 
net    pend-counts-x      ilowpass.mpgX.in  

net pend-x   ilowpass.mpgX.out
net pend-x   axis.x.jog-counts      

setp axis.x.jog-enable true


# Y encoder
net    pend-counts-y     encoder.1.counts 
net    pend-counts-y      ilowpass.mpgY.in  

net pend-y   ilowpass.mpgY.out
net pend-y   axis.y.jog-counts      

setp axis.y.jog-enable true

# Z encoder
net    pend-counts-z      encoder.2.counts 
net    pend-counts-z      ilowpass.mpgZ.in  

net pend-z   ilowpass.mpgZ.out
net pend-z   axis.z.jog-counts      

setp axis.z.jog-enable true