Feature Request

#custom mpg handwheels for 7i76  + pause/resume

# lcnc v2.7
# x axis fixed to enc0
# enc1 switched to y or z 

# load real time components
	loadrt mux_generic config="ff256"
	addf mux-gen.00 servo-thread	
	
###########################################
				
# Send the jog counts to each axis, only the one selected will move
	
# x encoder
 net mpg-count-x	<=  hm2_5i25.0.7i76.0.0.enc0.count
# y or z encoder
net mpg-count-y	<=  hm2_5i25.0.7i76.0.0.enc1.count

#for velocity mode set to 1 
#set for position mode 0 ( default) 

setp axis.0.jog-vel-mode 0
setp axis.1.jog-vel-mode 0 
setp axis.2.jog-vel-mode 0 


#	X axis
	net mpg-count-x => axis.0.jog-counts
     
#	Y axis
	net mpg-count-y => axis.1.jog-counts
     
#	Z axis( use y encoder here to ) 
	net mpg-count-y => axis.2.jog-counts

setp mux-gen.00.debounce-us 200000
setp mux-gen.00.suppress-no-input False

	# Set up the scale factors for the scale selector switch
			
	#1
	# 0.01 mm per click of the MPG
	setp mux-gen.00.in-float-01 0.01 #( default)
	
	#2
	# 1.0 mm per click of the MPG
	setp mux-gen.00.in-float-02 1.00
		
	#3
	# 0.5 mm per click of the MPG
	setp mux-gen.00.in-float-04 0.5
	
	#4
	# 0.1 mm per click of the MPG
	setp mux-gen.00.in-float-08 0.1
	
	#5
	# 0.05 mm per click of the MPG
	setp mux-gen.00.in-float-16 0.05
	
	#6
	# 0.01 mm per click of the MPG
	setp mux-gen.00.in-float-32 0.01
	
	#7
	# 0.01 mm per click of the MPG
	setp mux-gen.00.in-float-64 0.01

	#8
	# 0.01 mm per click of the MPG
	#setp mux-gen.00.in-float-128 0.01 #???

	
#	X axis enable
	#x axis is always enabled as it has it's own mpg
	setp axis.0.jog-enable true 
	
# now create an external switched input to select y or z enable  	
#	Y or Z axis enable
	net   mpg-y axis.1.jog-enable  <= hm2_5i25.0.7i76.0.0.input-06
#	Z axis
	net mpg-z axis.2.jog-enable <= hm2_5i25.0.7i76.0.0.input-07

	# MPG Scale
	# set the MPG scale based on the input from the selector switch	
	
	#1
	net pos1 mux-gen.00.sel-bit-00 <= hm2_5i25.0.7i76.0.0.input-09
	#2
    	net pos2 mux-gen.00.sel-bit-01 <= hm2_5i25.0.7i76.0.0.input-10
    	#3
    	net pos3 mux-gen.00.sel-bit-02 <= hm2_5i25.0.7i76.0.0.input-11
    	#4
	net pos4 mux-gen.00.sel-bit-03 <= hm2_5i25.0.7i76.0.0.input-12
	#5
	net pos5 mux-gen.00.sel-bit-04 <= hm2_5i25.0.7i76.0.0.input-13
	#6
	net pos6 mux-gen.00.sel-bit-05 <= hm2_5i25.0.7i76.0.0.input-14
    	#7
    	net pos7 mux-gen.00.sel-bit-06 <= hm2_5i25.0.7i76.0.0.input-15
    	#8
	net pos8 mux-gen.00.sel-bit-07 <= hm2_5i25.0.7i76.0.0.input-16
	
 
net mpg-scale-out <= mux-gen.00.out-float
# Set the jog scale output to all axis
net mpg-scale-out axis.0.jog-scale axis.1.jog-scale axis.2.jog-scale

	
##########################################################
#  Autohome + cycle start (unused )
#
# remember comment out cycle start in Hal
# uses cycle start switch as home all ..
# if homed then switch becomes cycle start
###############################################

# loadrt logic names=home-logic personality=0x502
# addf home-logic servo-thread

# note do not invert cycle-start button here or..
# on pressing, homing will cycle around and not stop.

# Set cyclestart gpio pin here & uncomment the next line 

#net cycle-start hm2_5i25.0.7i76.0.0.input-00 => home-logic.in-00

#setp debounce.0.delay 30

#net home-state-raw halui.joint.0.is-homed  => debounce.0.0.in
#net home-state-cleaned debounce.0.0.out home-logic.in-01

#net home-state halui.joint.0.is-homed  => home-logic.in-01

#net home-cmd home-logic.xor  => halui.home-all
#net run-cmd  home-logic.and  => halui.program.run

########### END AUTO HOME #################################

########## Run/Pause & Hold/Resume ######################

loadrt and2 count=4
loadrt or2 count=1
loadrt toggle count=1
loadrt toggle2nist count=1

addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf or2.0 servo-thread
addf toggle.0 servo-thread
addf toggle2nist.0 servo-thread

### Panel Leds ###########################

# panel led's 
# to show when paused & Step is selected 

net pause-on hm2_5i25.0.7i76.0.0.output-00 
net step-sig hm2_5i25.0.7i76.0.0.output-01


###############################################
#increment led
# link pos1 of mux to output 2 & invert
net pos1 	 hm2_5i25.0.7i76.0.0.output-02
setp hm2_5i25.0.7i76.0.0.output-02-invert true
################################################

# notes: 
# uncomment the next lines for testing Leds work 
# connect led's between gpio pin and ground 
# make sure they are 12v Leds' as they are on Field power. 

#setp hm2_5i25.0.7i76.0.0.output-00-invert true
#setp hm2_5i25.0.7i76.0.0.output-01-invert true

##### end Panel leds ##########################

# run / pause
# Notes:
# Functionality
# Pressing (CycleStart) Run/Step will begin executing a program.
# Pressing Hold/Resume while a program is running will pause the program.
# Pressing (CycleStart) Run/Step while a program is paused will single step the program.
# Pressing Hold/Resume while a program is paused will return it to normal run mode.
#...................

# External Program Pause/Resume and Run/Step Buttons
# Pause/Resume Section
net pause-resume-btn and2.0.in0 and2.1.in0 hm2_5i25.0.7i76.0.0.input-04 #(this is your input btn)
net pause-on toggle2nist.0.is-on  and2.0.in1 and2.3.in1 <= halui.program.is-paused
net run-on and2.1.in1 <= halui.program.is-running
net pause-sig or2.0.in0 <= and2.0.out
net resume-sig or2.0.in1 <= and2.1.out
net toggle-ok toggle.0.in <= or2.0.out
net togglesig toggle2nist.0.in <= toggle.0.out
net toggleon halui.program.pause <= toggle2nist.0.on
net toggleoff halui.program.resume <= toggle2nist.0.off
#..................
# Run/Step Section
net run-step-btn and2.2.in0 and2.3.in0 hm2_5i25.0.7i76.0.0.input-03 #(this is your input btn)
net idle-on and2.2.in1 <= halui.program.is-idle
#notes:
# net pause.on and 2.3.in1 <= halui.program.is-paused
# and2.3.in1 was added in the net pause-on statement in Pause/Resume Section
net run-sig halui.mode.auto halui.program.run  <= and2.2.out
net step-sig halui.program.step <= and2.3.out

########### end pause/resume ####################################