2 seperate MPG handwheels for each axis - CNC Lathe build

# Include your customized HAL commands here
#7i96 mesa baz


# change number of encoders here
loadrt  encoder num_chan=5

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  0.05

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  0.01

#set inputs to 7i96

#encoder X 
net  mpg-xa encoder.0.phase-A  <=  hm2_7i96.0.gpio.000.in
net  mpg-xb encoder.0.phase-B  <=  hm2_7i96.0.gpio.001.in

#encoder Y 
net  mpg-ya encoder.1.phase-A  <=  hm2_7i96.0.gpio.002.in
net  mpg-yb encoder.1.phase-B  <=  hm2_7i96.0.gpio.003.in

#encoder Z 
net  mpg-za encoder.2.phase-A  <=  hm2_7i96.0.gpio.004.in
net  mpg-zb encoder.2.phase-B  <=  hm2_7i96.0.gpio.005.in

# send mpg-encoder counts to required axis

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

net  enc_out-x   ilowpass.mpgX.out
net  enc_out-x   axis.x.jog-counts 
net  enc_out-x   joint.0.jog-counts 

setp    axis.x.jog-enable  true
setp   joint.0.jog-enable  true
## The above line is to be able to jog without homing ##

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

net    enc_out-y     ilowpass.mpgY.out
net    enc_out-y     axis.y.jog-counts      
net    enc_out-y    joint.1.jog-counts 

setp   axis.y.jog-enable  true
setp  joint.1.jog-enable  true

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

net   enc_out-z    ilowpass.mpgZ.out
net   enc_out-z    axis.z.jog-counts      
net   enc_out-z   joint.2.jog-counts 

setp   axis.z.jog-enable   true
setp  joint.2.jog-enable   true