#-----------------------------------------------------------------------
# USB Buttons
#-----------------------------------------------------------------------
	loadusr -W hal_input -KRAL DragonRise
	
#	setp halui.axis.jog-speed 	1000
#	net	jog-speed-inear	<= halui.axis.jog-speed		<= halui.joint.jog-speed	<= qtdragon.slider-jogspeed-linear

#-----------------------------------------------------------------------
# Jog Buttons
#-----------------------------------------------------------------------
net Jog-X-Plus 		<= halui.axis.x.plus 		<= halui.joint.0.plus			<= input.0.abs-x-is-pos
net Jog-X-Neg 		<= halui.axis.x.minus 		<= halui.joint.0.minus			<= input.0.abs-x-is-neg
net Jog-Y-Plus 		<= halui.axis.y.plus 		<= halui.joint.1.plus			<= input.0.abs-y-is-pos
net Jog-Y-Neg 		<= halui.axis.y.minus 		<= halui.joint.1.minus			<= input.0.abs-y-is-neg
net Jog-Z-Plus 		<= halui.axis.z.plus 		<= halui.joint.2.plus			<= input.0.btn-base5
net Jog-Z-Neg 		<= halui.axis.z.minus 		<= halui.joint.2.minus			<= input.0.btn-base6

#-----------------------------------------------------------------------
# USB Buttons
#-----------------------------------------------------------------------

# net ext_pause_prg	<= qtdragon.external-pause	<= input.0.btn-top
# Go into Manual mode
net man_mode		<= halui.mode.manual	<= input.0.btn-base4

#-----------------------------------------------------------------------
# Using Joypad buttons to set the speeds
#-----------------------------------------------------------------------
# This file connects three buttons to choose maximum jog speed in axis and joint modes.
#
# This feature makes the joypad safer to use as you must hold a speed selection button while jogging.
#
loadrt or2 		names=joy_or2_sel0,joy_or2_sel1
loadrt mux4 	names=joy_mux4

addf joy_or2_sel0 		servo-thread
addf joy_or2_sel1 		servo-thread
addf joy_mux4 			servo-thread
#
# Set the jog speed for the joypad speed selection. Use numbers that make sense for your machine.
#
setp joy_mux4.in0 	0.0 			# Setting this input to 0 prevents motion unless one of the other buttons is pressed.
setp joy_mux4.in1 	50.0 			# Max jog speed when first speed select button is pressed.
setp joy_mux4.in2 	500.0 			# Max jog speed when second speed select button is pressed.
setp joy_mux4.in3 	2000.0 			# Max jog speed when third speed select button is pressed.
#
# The following lines do the magic of setting the jog speed selection. You must hold at least one of the buttons while jogging.
# Notice this does not fully decode the button possibilities. If you simultaneously press multiple buttons you will get the higher speed.
#
net slow 			<= joy_or2_sel0.in0 					=> input.0.btn-pinkie 	# Button for selecting first jog speed.
net medium 			<= joy_or2_sel1.in0 					=> input.0.btn-top2		# Button for selecting second jog speed.
net fast 			<= joy_or2_sel0.in1 joy_or2_sel1.in1 	=> input.0.btn-top 		# Button for selecting third jog speed.

net joy-speed-sel0 	<= joy_or2_sel0.out 	=> joy_mux4.sel0
net joy-speed-sel1 	<= joy_or2_sel1.out 	=> joy_mux4.sel1
net jog-speed 		<= joy_mux4.out 		=> halui.axis.jog-speed 	halui.joint.jog-speed