20 lines
683 B
Plaintext
20 lines
683 B
Plaintext
# optional postgui hal file to allow MPG wheel jog of joint_3
|
|
# using the fourth xhc-hb04 rotary switch position (labeled 'a')
|
|
|
|
# connect to existing signals:
|
|
net pendant:jog-scale => joint.3.jog-scale
|
|
net pendant:wheel-counts => pendant_util.in3
|
|
|
|
# make new signals and connections for optionalj3 jogging:
|
|
net optionalj3:enable <= xhc-hb04.jog.enable-a
|
|
net optionalj3:enable => joint.3.jog-enable
|
|
|
|
net optionalj3:filtered <= pendant_util.out3
|
|
net optionalj3:filtered => joint.3.jog-counts
|
|
|
|
# scale3 value is: kvalue * scale_for_rotary_switch_a
|
|
# kvalue=100 is a constant defined in xhc-hb04.tcl
|
|
# scale_for_rotary_switch_a=1 defined in xhc-hb04.inc
|
|
setp pendant_util.scale3 100
|
|
|