# load the userspace driver for inputdevice
loadusr -W hal_input RumblePad

#y axis feels reversed
setp input.0.abs-y-scale -127.5

#A axis is in degrees.. we need more speed
setp input.0.abs-rz-scale 12.75

net jog-x input.0.abs-x-position halui.jog.0.analog
net jog-y input.0.abs-y-position halui.jog.1.analog
net jog-z input.0.abs-z-position halui.jog.2.analog
net jog-a input.0.abs-rz-position halui.jog.3.analog


#set the jogging speed
setp halui.jog-speed 1400

setp halui.jog-deadband 0.05

#connect machine on and off
newsig machine-on bit
linksp machine-on input.0.btn-base
linksp machine-on halui.machine.on

newsig machine-off bit
linksp machine-off input.0.btn-top2
linksp machine-off halui.machine.off

#connect estop and estop reset
newsig estop bit
linksp estop input.0.btn-pinkie
linksp estop halui.estop.activate

newsig estop-reset bit
linksp estop-reset input.0.btn-base2
linksp estop-reset halui.estop.reset

#connect spindle on and off
net spindle-on input.0.btn-trigger halui.spindle.start
net spindle-off input.0.btn-thumb halui.spindle.stop