I am using the joypad.hal file located on the wiki. I have of course
modified it for my machine. I am loading halui and using it to control
various functions via buttons on the joypad. The previous version of
EMC was 2.1.3 which I obtained via Ubuntu Synaptic Package Manager. I
also updated to 2.1.4 the same way.
Kirk
On Tue, 2007-03-27 at 00:40 -0400, John Kasunich wrote:
> Kirk wrote:
> > I just updated my system with the latest EMC 2.1.4. Prior to that I had
> > installed a USB joystick controller and it worked fine. After the
> > upgrade, the analog axes joysticks no longer work properly. If I jog an
> > axis it continues in the same direction as started and does not stop
> > when the control is released. Also the axis velocity is not
> > proportional to the joystick movement. It runs at the current programmed
> > manual velocity scaled by the override.
> >
> > I ran the test specified in the wiki for checking out the joystick
> > controller using Hal Meter. The Joypad works the same as it did before.
> > The analog controls output a zero in the neutral position and vary
> > between 0..1 as a joystick is moved.
> >
> > Does anybody know what I am missing? The joypad.hal file is the same
> > file that I used in version 2.1.3.
> >
>
> Are you using halui to do the joystick jogging? Or are you using the
> motion controller's jog wheel inputs (axis.N.jog-counts and related pins)?
>
> (Those are two completely different approaches, and without knowing
> which one you are using there isn't much we can do to help.)
>
> If you are using the halui approach, keep in mind that joystick jogging
> was added to halui in CVS head only. 2.1.4 does not support it.
> Perhaps when you had it working before you were using a CVS checkout?
>
> Please post your hal file, in a message if its short, or on
> http://pastebin.ca if it is very long (post the pastebin URL here).
> It's late now, but I'll take a look at it tomorrow.
>
> Regards,
>
> John Kasunich
>
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# joypad.hal -- hal configuration file to move a cnc machine using a joypad
# [JOG]
# Components
# We will use hal_joystick to read the axis value (float) for X Y Z, we will
send these values to the
# speed pin of a sim-encoder component, for X Y Z, this component outputs
Phase-A and Phase-B signal,
# just like a real quadrature rotary encoder. We will decode those signals with
an encoder component for X Y Z
# and will send the result counts value to the axis jog pin for X Y Z.
# Load the hal_joystick component that creates joypad.axis.<n> and
joypad.button.<n> pins
loadusr hal_joystick -d /dev/input/js0 -p joypad
# Load three encoder and three sim_encoder components
loadrt encoder num_chan=3
loadrt sim_encoder num_chan=3
# Create links between the axis pins and the speed pin of the sim-encoder for X
Y Z
net velX joypad.axis.0 => sim-encoder.0.speed
net velY joypad.axis.1 => sim-encoder.1.speed
net velZ joypad.axis.3 => sim-encoder.2.speed
# Create links between sim-encoder Phase-A and Phase-B and encoder Phase-A and
Phase-B for X Y Z
net XA sim-encoder.0.phase-A => encoder.0.phase-A
net XB sim-encoder.0.phase-B => encoder.0.phase-B
net YA sim-encoder.1.phase-A => encoder.1.phase-A
net YB sim-encoder.1.phase-B => encoder.1.phase-B
net ZA sim-encoder.2.phase-A => encoder.2.phase-A
net ZB sim-encoder.2.phase-B => encoder.2.phase-B
# Create links between encoder counts and jog counts for X Y Z
net countX encoder.0.counts => axis.0.jog-counts
net countY encoder.1.counts => axis.1.jog-counts
net countZ encoder.2.counts => axis.2.jog-counts
# Set parameter values
setp encoder.0.position-scale 1
setp encoder.0.x4-mode TRUE
setp encoder.1.position-scale 1
setp encoder.1.x4-mode TRUE
setp encoder.2.position-scale 1
setp encoder.2.x4-mode TRUE
setp encoder.capture-position.tmax 0
setp encoder.update-counters.tmax 0
setp sim-encoder.0.ppr 00000500
setp sim-encoder.0.scale 1
setp sim-encoder.1.ppr 00000500
setp sim-encoder.1.scale -1
setp sim-encoder.2.ppr 00000500
setp sim-encoder.2.scale -1
setp sim-encoder.make-pulses.tmax 0
setp sim-encoder.update-speed.tmax 0
# Enable jog for X Y Z
setp axis.0.jog-enable TRUE
setp axis.1.jog-enable TRUE
setp axis.2.jog-enable TRUE
# Attach realtime functions to threads
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
addf encoder.update-counters base-thread
addf sim-encoder.make-pulses base-thread
# [BUTTON-SAMPLES]
# Here are two examples on how to attach some functions to joypad buttons. We
will use Halui pins for the
# second example.
# Scale button
# we set two buttons (1 and 0) to choose the jogscale value. Pressing button 1
will set the scale to 0.01
# while pressing button 0 will set it to 0.1.
# Components
# We will use a two values selector and a flipflop component
loadrt mux2
loadrt flipflop
# Link between buttons and flipflop, flipflop will output TRUE when rising edge
is detected on set pin, FALSE
# when rising edge is on reset pin.
net button0 joypad.button.0 => flipflop.0.reset
net button1 joypad.button.1 => flipflop.0.set
# Link between flipflop and mux2, mux2 will output value mux2.0.in0 when
mux2.0.sel is FALSE and #mux2.0.in1
# when TRUE.
net selected flipflop.0.out => mux2.0.sel
# Link between the mux2 output and the jogscale pin for X Y Z
net jogscale mux2.0.out => axis.0.jog-scale
net jogscale mux2.0.out => axis.1.jog-scale
net jogscale mux2.0.out => axis.2.jog-scale
# Set parameters values
setp flipflop.0.tmax 3750
setp mux2.0.tmax 3601
# Set the two scale values
setp mux2.0.in0 0.1
setp mux2.0.in1 0.01
# Attach realtime functions to threads
addf flipflop.0 servo-thread
addf mux2.0 servo-thread
# Power On Button
net button9 joypad.button.9 => halui.machine.on
# Estop Button
net button5 joypad.button.5 => halui.estop.activate
net button7 joypad.button.7 => halui.estop.reset
# Spindle
net button6 joypad.button.6 => halui.spindle.start
net button4 joypad.button.4 => halui.spindle.stop
# Program Start/Stop
net button3 joypad.button.3 => halui.program.resume
net button2 joypad.button.2 => halui.program.pause
# Flood button
# We will set a single button (button 7) to start and stop flood. We will use
Halui pins for that.
# Components
# We will use simply two and2 and 1 not components
#loadrt and2 count=2
#loadrt not
# Flood-is-on halui pin is linked to the and2.0.in0 and the not-flood-is-on,
generated using the not component
# is linked to the and2.1.in0. So, if the flood is on, we will have and2.0.in0
TRUE and and2.1.in0 FALSE.
#net flood-is-on halui.flood.is-on => and2.0.in0
#net flood-is-on halui.flood.is-on => not.0.in
#net not-flood-is-on not.0.out => and2.1.in0
# Link between button 7 and and.0.in1 and and.1.in1. In this way, if the flood
for example is on, when the
# button is pressed TRUE will be sent to and2.0.in1 and and2.1.in1, while the
in0 value for and2 components
# will be TRUE for the first and2 and FALSE for the second. So the first and2
will output TRUE.
#net button7 joypad.button.7 => and2.0.in1
#net button7 joypad.button.7 => and2.1.in1
# Link between and2 outputs and halui pin flood on and off. So, as seen above,
if the flood is on, the and2.0
# will output TRUE and the flood will turn off.
#net floodOff and2.0.out => halui.flood.off
#net floodOn and2.1.out => halui.flood.on
# Attach realtime functions to threads
#addf and2.0 servo-thread
#addf and2.1 servo-thread
#addf not.0 servo-thread
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