######################################
# HAL code for external control box##
######################################

######################################
# jogwheels ##########################
######################################

# add 2 encoder counter modules
loadrt encoder num_chan=2

#signals to connect the encoders to parport
newsig encA1 bit
newsig encB1 bit
newsig encA2 bit
newsig encB2 bit

linksp encA1 parport.1.pin-03-in
linksp encB1 parport.1.pin-04-in
linksp encA2 parport.1.pin-05-in
linksp encB2 parport.1.pin-06-in

linksp encA1 encoder.0.phase-A
linksp encB1 encoder.0.phase-B
linksp encA2 encoder.1.phase-A
linksp encB2 encoder.1.phase-B

#make this your counts/unit
setp encoder.0.position-scale 1
setp encoder.1.position-scale 1

addf encoder.update-counters    base-thread 
addf encoder.capture-position	servo-thread 

#next connect the output from the encoder counters to motion jog X
newsig jogwheel-pos1 s32
linkps encoder.0.counts => jogwheel-pos1
linksp jogwheel-pos1 => axis.0.jog-counts

newsig jogwheel-pos2 s32
linkps encoder.1.counts => jogwheel-pos2
linksp jogwheel-pos2 => axis.2.jog-counts

#next enable the jogwheel jogging
newsig enablejog bit
linksp enablejog => axis.0.jog-enable
linksp enablejog => axis.2.jog-enable

#set it to 1
sets enablejog 1

newsig jogscale float
sets jogscale 0.1
setp encoder.0.x4-mode 0
setp encoder.1.x4-mode 0
linksp jogscale => axis.0.jog-scale
linksp jogscale => axis.2.jog-scale