34 lines
1.2 KiB
Bash
Executable File
34 lines
1.2 KiB
Bash
Executable File
#!/bin/bash
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# simulate hardware buttons and jogwheel for touchy
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# Note: some pins are not used in some configs
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# identity kins assumed: connect one-to-one joints & axis letters
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halcmd net :xen touchy.jog.wheel.x joint.0.jog-enable axis.x.jog-enable
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halcmd net :yen touchy.jog.wheel.y joint.1.jog-enable axis.y.jog-enable
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halcmd net :zen touchy.jog.wheel.z joint.2.jog-enable axis.z.jog-enable
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halcmd net :scale touchy.jog.wheel.increment
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halcmd net :scale joint.0.jog-scale axis.x.jog-scale
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halcmd net :scale joint.1.jog-scale axis.y.jog-scale
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halcmd net :scale joint.2.jog-scale axis.z.jog-scale
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halcmd net :counts touchy.wheel-counts
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halcmd net :counts joint.0.jog-counts axis.x.jog-counts
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halcmd net :counts joint.1.jog-counts axis.y.jog-counts
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halcmd net :counts joint.2.jog-counts axis.z.jog-counts
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sim_pin \
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touchy.cycle-start/mode=pulse \
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touchy.abort/mode=pulse \
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halui.program.pause/mode=pulse \
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motion.feed-hold/mode=hold \
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touchy.jog.continuous.x.negative/mode=hold \
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touchy.jog.continuous.x.positive/mode=hold \
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touchy.jog.continuous.y.negative/mode=hold \
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touchy.jog.continuous.y.positive/mode=hold \
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touchy.jog.continuous.z.negative/mode=hold \
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touchy.jog.continuous.z.positive/mode=hold \
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:counts/mode=pulse \
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>/dev/null
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