# Jog Pendant
loadrt encoder num_chan=1
loadrt mux4 count=1
loadrt mult2 count=1
loadrt lut5 count=1

addf encoder.capture-position servo-thread
addf encoder.update-counters base-thread
addf mux4.0 servo-thread
addf mult2.0 servo-thread
addf lut5.0 servo-thread

# If your MPG outputs a quadture signal per click set x4 to 1
# If your MPG puts out 1 pulse per click set x4 to 0
setp encoder.0.x4-mode 0

# For velocity mode, set n to 1
# In velocity mode the axis stops when dial is stopped even if that means
# the commanded motion is not completed,
# For position mode (the default), set n to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
# This must be set for each axis you want to behave other than default
setp axis.0.jog-vel-mode 0
setp axis.1.jog-vel-mode 0
setp axis.2.jog-vel-mode 0
setp axis.3.jog-vel-mode 0
setp mux4.0.in0 0.01
setp mux4.0.in1 0.001
setp mux4.0.in2 0.0001
setp mult2.0.in0 100
net scale1 mux4.0.sel0 <= parport.1.pin-09-in
net scale2 mux4.0.sel1 <= parport.1.pin-08-in
net pend-scale axis.0.jog-scale <= mux4.0.out
net pend-scale axis.1.jog-scale
net pend-scale axis.2.jog-scale
net pend-scale mult2.0.in1
net rot-scale axis.3.jog-scale <= mult2.0.out
net mpg-a encoder.0.phase-A <= parport.1.pin-13-in
net mpg-b encoder.0.phase-B <= parport.1.pin-15-in
net mpg-x axis.0.jog-enable <= parport.1.pin-03-in
net mpg-y axis.1.jog-enable <= parport.1.pin-04-in
net mpg-z axis.2.jog-enable <= parport.1.pin-05-in
net mpg-4 axis.3.jog-enable <= parport.1.pin-06-in
net pend-counts axis.0.jog-counts <= encoder.0.counts
net pend-counts axis.1.jog-counts
net pend-counts axis.2.jog-counts
net pend-counts axis.3.jog-counts