#%TITLE% JOY.MAC 
#%NAME% 
# Joystick for SPEC motors
#
#%CATEGORY% Positioning
#
#%DESCRIPTION%
# This is a single macro file to move up and down a motor by using
# "k" and "l" keys. The macro allows to change the stepsize on the fly.
#
#%END%

##
# joy
##
#%UU% motor stepsize
#%MDESC%
#
# Starts the joystick function
#
def joy '
  JOYTRUE=1
  JOYFALSE=0

  #
  # Usage.
  if ($# != 2) {
         print "Usage:  joy motor stepsize "
         exit
  }

  _joystep=$2

  #
  # Header
  #
  printf("\nSPEC Joystick on %s\n",motor_name($1)) 
  printf("(k=up;l=down;n=new step;other=exit)")
  printf("\n%10.9s\n", motor_name($1))
  printf("%10.4f\r", A[$1])

  #
  # Main loop
  #
  JOY=JOYTRUE
  while(JOY) {
     joy_clean_buffer
     sleep(0.1)
     po=input(-1)
     if (po=="k") { 
         #
         # Positive movement
         #
         mvr $1 _joystep
         waitmove;get_angles 
         printf("%10.4f\r", A[$1])
     } else if (po=="l") { 
         #
         # Negative movement
         #
         mvr $1 -_joystep
         waitmove;get_angles 
         printf("%10.4f\r", A[$1])
     } else if (po == "n") {
         #
         # New step
         #
         joy_clean_buffer
         input(1)
         _joystep=getval("New step",_joystep)
         printf("%10.4f\r", A[$1])
     } else if (po != "" && po != "\004") JOY=JOYFALSE
  }
  #
  # Clear and goodbye
  #
  joy_clean_buffer
  input(1)
  waitmove;get_angles 
  printf("%10.4f\n", A[$1])
'

#%IU%
def joy_clean_buffer '
  while((po=input(-1)) != "" && po != "\004") {}
'

#%MACROS%
#%IMACROS%
#%AUTHOR% Vicente Rey 23 Jan. 1995
#%TOC%