#RMC Rev41.1 - Add spindle lock interlock, PDB M-code, angular jog scale, switch SRO/FRO inputs on MPG
#RMC Rev41 - Added 4th axis back
#RMC Rev40 - new control panel & 7i73

### MPG ###

# INCREMENT SELECTOR SWITCH
net jog-incr-a              <=  [HMOT](CARD0).7i73.0.1.input-10-not #0.0001"
net jog-incr-b              <=  [HMOT](CARD0).7i73.0.1.input-11-not #0.0010"
net jog-incr-c              <=  [HMOT](CARD0).7i73.0.1.input-12-not #0.0100"
net jog-incr-d              <=  [HMOT](CARD0).7i73.0.1.input-13-not #0.1000"

# AXIS SELECTOR SWITCH
net MPG-OFF                 <=  [HMOT](CARD0).7i73.0.1.input-00-not #MPG OFF
net axis-select-x           <=  [HMOT](CARD0).7i73.0.1.input-01-not
net axis-select-y           <=  [HMOT](CARD0).7i73.0.1.input-02-not
net axis-select-z           <=  [HMOT](CARD0).7i73.0.1.input-03-not
net axis-select-a           <=  [HMOT](CARD0).7i73.0.1.input-04-not
net FRO-SELECT              <=  [HMOT](CARD0).7i73.0.1.input-05-not
net SRO-SELECT              <=  [HMOT](CARD0).7i73.0.1.input-06-not
net JOG-CONT-SELECT         <=  [HMOT](CARD0).7i73.0.1.input-07-not

# MPG HANDWHEEL ENCODER
net MPG-ENCODER-COUNT       <=  [HMOT](CARD0).7i73.0.1.enc0.count

# AXIS CONNECTIONS
setp    axis.x.jog-vel-mode 1
net selected-jog-incr       =>  axis.x.jog-scale    =>  joint.0.jog-scale
net axis-select-x           =>  axis.x.jog-enable   =>  joint.0.jog-enable
net MPG-ENCODER-COUNT       =>  axis.x.jog-counts   =>  joint.0.jog-counts

setp    axis.y.jog-vel-mode 1
net selected-jog-incr       =>  axis.y.jog-scale    =>  joint.1.jog-scale
net axis-select-y           =>  axis.y.jog-enable   =>  joint.1.jog-enable
net MPG-ENCODER-COUNT       =>  axis.y.jog-counts   =>  joint.1.jog-counts

setp    axis.z.jog-vel-mode 1
net selected-jog-incr       =>  axis.z.jog-scale    =>  joint.2.jog-scale
net axis-select-z           =>  axis.z.jog-enable   =>  joint.2.jog-enable
net MPG-ENCODER-COUNT       =>  axis.z.jog-counts   =>  joint.2.jog-counts

setp    axis.a.jog-vel-mode 1
net selected-jog-incr       =>  axis.a.jog-scale    =>  joint.3.jog-scale
net axis-select-a           =>  axis.a.jog-enable   =>  joint.3.jog-enable
net MPG-ENCODER-COUNT       =>  axis.a.jog-counts   =>  joint.3.jog-counts

# JOG - INCREMENTAL MODE
net jog-incr-a              =>  mux16.jogincr.sel0
net jog-incr-b              =>  mux16.jogincr.sel1
net jog-incr-c              =>  mux16.jogincr.sel2
net jog-incr-d              =>  mux16.jogincr.sel3
net selected-jog-incr       <=  mux16.jogincr.out-f
setp mux16.jogincr.debounce-time      0.200000
setp mux16.jogincr.use-graycode       false
setp mux16.jogincr.suppress-no-input  false
setp mux16.jogincr.in01         0.0001
setp mux16.jogincr.in02         0.001
setp mux16.jogincr.in04         0.010
setp mux16.jogincr.in08         0.100

# JOG CONTINUOUS - PANEL BUTTONS
net axis-select-x           =>  halui.axis.x.select =>  halui.joint.0.select
net axis-select-y           =>  halui.axis.y.select =>  halui.joint.1.select
net axis-select-z           =>  halui.axis.z.select =>  halui.joint.2.select
net axis-select-a           =>  halui.axis.a.select =>  halui.joint.3.select

setp halui.axis.jog-speed       50
setp halui.joint.jog-speed      50
setp mux2.3.in0                 1                       #SCALE FOR LINEAR JOG
setp mux2.3.in1                 36                      #SCALE FOR ANGULAR JOG
net axis-select-a           =>  mux2.3.sel              #SCALE SELECTION TRIGGERED BY MPG SWITCH
net JOG-SCALE-COMP          <=  mux2.3.out
net JOG-SCALE-COMP          =>  scale.1.gain
net JOG-SPEED-OUT           =>  scale.1.in
net JOG-SCALED-OUT          <=  scale.1.out
net JOG-SCALED-OUT          =>  halui.axis.jog-speed    =>  halui.joint.jog-speed
net BTN-JOGNEG              =>  halui.axis.selected.minus   =>  halui.joint.selected.minus
net BTN-JOGPOS              =>  halui.axis.selected.plus    =>  halui.joint.selected.plus

# JOG CONTINUOUS - MPG SPEED ADJUST
setp knob2float.0.max-out       100.0
setp knob2float.0.min-out       0.0
setp knob2float.0.scale         1
net JOG-CONT-SELECT         =>  knob2float.0.enable
net MPG-ENCODER-COUNT       =>  knob2float.0.counts
net JOG-SPEED-OUT           <=  knob2float.0.out