joystick.hal

loadusr -W hal_input -KRAL Dragon

#setp halui.jog-speed 2100
# position = (count - offset) / scale

loadrt or2 names=or2_0,or2_1,or2_2
loadrt mux8 names=mux8_0

addf or2_0 servo-thread
addf or2_1 servo-thread
addf or2_2 servo-thread
addf mux8_0 servo-thread

# set the jog speed for the joypad again use numbers that make sense for your machine
setp mux8_0.in0 50
setp mux8_0.in1 100
setp mux8_0.in2 150
setp mux8_0.in3 200
setp mux8_0.in4 300
setp mux8_0.in5 2000

# the following does the magic of setting the jog speeds
net remote-speed-slow   or2_0.in0 input.0.btn-trigger
net remote-speed-medium or2_1.in0 input.0.btn-thumb
net remote-speed-fast   or2_0.in1 or2_1.in1 input.0.btn-thumb2
net remote-speed-fast2  or2_2.in1 input.0.btn-top

net joy-speed-1 mux8_0.sel0 <= or2_0.out
net joy-speed-2 mux8_0.sel1 <= or2_1.out
net joy-speed-3 mux8_0.sel2 <= or2_2.out
net joy-speed-final halui.jog-speed <= mux8_0.out


loadrt sum2 names=sum2_0,sum2_1,sum2_2
addf sum2_0 servo-thread
addf sum2_1 servo-thread
addf sum2_2 servo-thread

# reverse the analog so the axis will go in the expected direction
setp sum2_0.gain0 1
net reverse-x sum2_0.in0 <= input.0.abs-x-position
net joy-x-jog halui.jog.0.analog <= sum2_0.out

setp sum2_1.gain0 -1
net reverse-y sum2_1.in0 <= input.0.abs-y-position
net joy-y-jog halui.jog.1.analog <= sum2_1.out

setp sum2_2.gain0 -1
net reverse-z sum2_2.in0 <= input.0.abs-rz-position
net joy-z-jog halui.jog.2.analog <= sum2_2.out