LinuxCNC HAL file: Logitech gamepad as jogging pendant

joggy.hal

# HAL for Logitech Joggy Thing


####################################################
# Load realtime and userspace modules

loadusr -W hal_input -KA Dual

#loadrt logic      count=1 personality=0x104
loadrt constant   count=13
loadrt and2       count=17
loadrt conv_float_s32   count=1
loadrt flipflop   count=4
loadrt mux2       count=1
loadrt mux4       count=5
loadrt not        count=8
loadrt or2        count=13
loadrt scale      count=7
loadrt timedelay  count=1
loadrt toggle     count=1


####################################################
# Hook functions into threads

#addf logic.0      servo-thread

addf constant.0   servo-thread
addf constant.1   servo-thread
addf constant.2   servo-thread
addf constant.3   servo-thread
addf constant.4   servo-thread
addf constant.5   servo-thread
addf constant.6   servo-thread
addf constant.7   servo-thread
addf constant.8   servo-thread
addf constant.9   servo-thread
addf constant.10  servo-thread
addf constant.11  servo-thread
addf constant.12  servo-thread
addf and2.0       servo-thread
addf and2.1       servo-thread
addf and2.2       servo-thread
addf and2.3       servo-thread
addf and2.4       servo-thread
addf and2.5       servo-thread
addf and2.6       servo-thread
addf and2.7       servo-thread
addf and2.8       servo-thread
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
addf and2.14      servo-thread
addf and2.15      servo-thread
addf and2.16      servo-thread
addf conv-float-s32.0  servo-thread
addf toggle.0     servo-thread
addf flipflop.0   servo-thread
addf flipflop.1   servo-thread
addf flipflop.2   servo-thread
addf flipflop.3   servo-thread
addf timedelay.0  servo-thread
addf or2.0        servo-thread
addf or2.1        servo-thread
addf or2.2        servo-thread
addf or2.3        servo-thread
addf or2.4        servo-thread
addf or2.5        servo-thread
addf or2.6        servo-thread
addf or2.7        servo-thread
addf or2.8        servo-thread
addf or2.9        servo-thread
addf or2.10       servo-thread
addf or2.11       servo-thread
addf or2.12       servo-thread
addf not.0        servo-thread
addf not.1        servo-thread
addf not.2        servo-thread
addf not.3        servo-thread
addf not.4        servo-thread
addf not.5        servo-thread
addf not.6        servo-thread
addf not.7        servo-thread
addf scale.0      servo-thread
addf scale.1      servo-thread
addf scale.2      servo-thread
addf scale.3      servo-thread
addf scale.4      servo-thread
addf scale.5      servo-thread
addf scale.6      servo-thread
addf mux2.0       servo-thread
addf mux4.0       servo-thread
addf mux4.1       servo-thread
addf mux4.2       servo-thread
addf mux4.3       servo-thread
addf mux4.4       servo-thread


####################################################
# Set constants

setp constant.0.value    0.1
setp constant.1.value    20
setp constant.2.value    [TRAJ]MAX_LINEAR_VELOCITY
setp constant.3.value    [TRAJ]MAX_ANGULAR_VELOCITY
setp constant.4.value    60
setp constant.5.value    0.50
setp constant.6.value    1.00
setp constant.7.value    0.10
setp constant.8.value    0.10
setp constant.9.value    0.0
setp constant.10.value   -1.0
setp constant.11.value   0.020
setp constant.12.value   0.000


####################################################
# Connect Modules with nets

# both rear top buttons for e-stop, bottom right to reset

net estop-a input.0.btn-top2 and2.0.in0
net estop-b input.0.btn-base and2.0.in1
net n_13 and2.0.out halui.estop.activate

net reset-estop input.0.btn-base2 halui.estop.reset

# button to start manual mode (probably not needed with 2.8)

net manual-mode halui.mode.manual input.0.btn-base3

net program-resume halui.program.resume input.0.btn-base4

net n_14 or2.3.in0 input.0.btn-base5
net n_15 or2.3.in1 input.0.btn-base6
net n_16 toggle.0.in or2.3.out
net n_17 conv-float-s32.0.out input.0.abs-x-flat input.0.abs-y-flat input.0.abs-z-flat input.0.abs-rz-flat
net n_18 constant.1.out conv-float-s32.0.in
net n_19 constant.4.out scale.0.gain
net n_20 constant.5.out scale.1.gain
net n_21 constant.6.out scale.2.gain
net n_22 constant.7.out scale.3.gain
net n_23 scale.4.gain constant.8.out
net n_24 constant.0.out halui.axis.jog-deadband
net n_42 or2.7.in0 input.0.abs-x-is-pos
net n_43 or2.7.in1 input.0.abs-x-is-neg
net n_44 or2.8.in0 input.0.abs-y-is-pos
net n_45 or2.8.in1 input.0.abs-y-is-neg
net n_46 or2.9.in0 input.0.abs-z-is-pos
net n_47 or2.9.in1 input.0.abs-z-is-neg
net n_48 or2.10.in0 input.0.abs-rz-is-pos
net n_49 or2.10.in1 input.0.abs-rz-is-neg
net n_51 constant.10.out scale.5.gain scale.6.gain
net n_57 and2.1.out halui.axis.x.minus halui.joint.0.minus
net n_58 and2.2.out halui.axis.x.plus  halui.joint.0.plus
net n_59 and2.3.out halui.axis.y.minus halui.joint.1.minus
net n_60 and2.4.out halui.axis.y.plus  halui.joint.1.plus
net n_61 and2.5.out halui.axis.z.minus halui.joint.2.minus
net n_62 and2.6.out halui.axis.z.plus  halui.joint.2.plus
net n_63 and2.7.out halui.axis.a.minus halui.joint.3.minus
net n_64 and2.8.out halui.axis.a.plus  halui.joint.3.plus

# sort out jog speeds

net az-buttons-active  or2.1.out or2.12.in1
net xy-buttons-active  or2.5.out or2.12.in0
net any-buttons-active or2.12.out mux4.0.sel0 timedelay.0.in

net n_54 constant.11.out timedelay.0.on-delay
net n_55 constant.12.out timedelay.0.off-delay
net n_56 timedelay.0.out and2.1.in1 and2.2.in1 and2.3.in1 and2.4.in1 and2.5.in1 and2.6.in1 and2.7.in1 and2.8.in1

net jog-crawl toggle.0.out mux4.0.sel1
net knob-fast    scale.1.out mux4.0.in0 scale.3.in
net button-fast  scale.2.out mux4.0.in1 scale.4.in
net knob-crawl   scale.3.out mux4.0.in2
net button-crawl scale.4.out mux4.0.in3
net jog-speed mux4.0.out halui.axis.jog-speed halui.joint.jog-speed

net angular_motion or2.11.out mux2.0.sel
net n_25 constant.2.out mux2.0.in0
net n_26 constant.3.out mux2.0.in1
net vel-per-second mux2.0.out  scale.0.in

net vel-per-minute scale.0.out scale.1.in scale.2.in

net az-reset and2.14.out flipflop.2.reset flipflop.3.reset
net xy-reset and2.10.out flipflop.0.reset flipflop.1.reset

# hold jog speed unchanged until machine turns on
#  mux S&H from https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Remote_Pendant

net jog-mux-enable halui.machine.is-on mux4.1.sel1 mux4.2.sel1 mux4.3.sel1 mux4.4.sel1

net axis-disabled-value constant.9.out mux4.1.in2 mux4.2.in2 mux4.3.in2 mux4.4.in2

net x-analog mux4.1.out mux4.1.in0 mux4.1.in1 halui.axis.x.analog halui.joint.0.analog
net y-analog mux4.2.out mux4.2.in0 mux4.2.in1 halui.axis.y.analog halui.joint.1.analog
net z-analog mux4.3.out mux4.3.in0 mux4.3.in1 halui.axis.z.analog halui.joint.2.analog
net a-analog mux4.4.out mux4.4.in0 mux4.4.in1 halui.axis.a.analog halui.joint.3.analog

#net x-amp-enable logic.0.in-00
#net y-amp-enable logic.0.in-01
#net z-amp-enable logic.0.in-02
#net a-amp-enable logic.0.in-03

net x-buttons-active or2.4.out or2.5.in0
net x-disable not.4.out and2.12.in1
net x-enable flipflop.0.out not.4.in mux4.1.sel0
net x-hat-minus or2.4.in1 input.0.abs-hat0x-is-neg and2.1.in0
net x-hat-plus or2.4.in0 input.0.abs-hat0x-is-pos and2.2.in0
net x-jog input.0.abs-x-position mux4.1.in3
net x-knob-active or2.7.out not.0.in and2.9.in0
net x-knob-inactive not.0.out and2.10.in0 and2.11.in0
net x-set and2.9.out flipflop.0.set

net y-buttons-active or2.6.out or2.5.in1
net y-disable not.5.out and2.9.in1
net y-enable flipflop.1.out not.5.in mux4.2.sel0
net y-hat-minus or2.6.in1 input.0.abs-hat0y-is-neg and2.4.in0
net y-hat-plus or2.6.in0 input.0.abs-hat0y-is-pos and2.3.in0
net y-jog input.0.abs-y-position scale.5.in
net y-jog-reversed scale.5.out mux4.2.in3
net y-knob-active not.1.in or2.8.out and2.11.in1
net y-knob-inactive not.1.out and2.10.in1
net y-select and2.12.in0 and2.11.out
net y-set flipflop.1.set and2.12.out

net z-button-minus or2.2.in0 input.0.btn-thumb and2.5.in0
net z-button-plus or2.2.in1 input.0.btn-top and2.6.in0
net z-buttons-active or2.2.out or2.1.in1
net z-disable not.6.out and2.16.in1
net z-enable not.6.in flipflop.2.out mux4.3.sel0
net z-jog input.0.abs-rz-position scale.6.in
net z-jog-reversed scale.6.out mux4.3.in3
net z-knob-active not.3.in or2.10.out and2.13.in0
net z-knob-inactive not.3.out and2.15.in0 and2.14.in0
net z-set and2.13.out flipflop.2.set

net a-button-minus or2.0.in0 input.0.btn-joystick and2.7.in0
net a-button-plus or2.0.in1 input.0.btn-thumb2 and2.8.in0
net a-buttons-active or2.0.out or2.1.in0 or2.11.in1
net a-disable not.7.out and2.13.in1
net a-enable or2.11.in0 flipflop.3.out not.7.in mux4.4.sel0
net a-jog input.0.abs-z-position mux4.4.in3
net a-knob-active or2.9.out not.2.in and2.15.in1
net a-knob-inactive not.2.out and2.14.in1
net a-select and2.16.in0 and2.15.out
net a-set flipflop.3.set and2.16.out

More details on my blog at https://wp.me/poZKh-9Rj