HAL Buttons

Any QPushButton, QCheckBox or QRadioButton can have a HAL pin by adding a string Dynamic Property called function with the value of hal_pin and a string Dynamic Property called pin_n where n is some non repeated number with a property of pin_name, pin_type, pin_dir seperated by comma’s

Pin Types:

HAL_BIT
HAL_FLOAT
HAL_S32
HAL_U32

Pin Directions:

HAL_IN
HAL_OUT
HAL_IO

Currently only HAL_BIT with HAL_OUT has been tested.

Warning

By default no QRadioButtons are checked unless you set one checked in the Designer. Starting up with none checked could be a problem if you expect one to be selected at startup.

Step by Step

You can use a QPushButton, QPushButton with checkable selected, QCheckBox or QRadioButton for a HAL output control.

Drag the widget into the GUI and the widget can have any name you like. Names are not used by Flex GUI for HAL controls.

Click on the widget to select it then click on the green plus sign in the Property Editor for that widget to add a Dynamic Property and select String.

_images/hal-01.png

Set the Property Name to function and click on Ok.

_images/hal-02.png

Set the Value to hal_pin, this tells Flex GUI that this widget is going to have a HAL pin.

_images/hal-03.png

Add another Dynamic Property named pin_n where n is a unique number or word and click Ok. Flex GUI searches the Dynamic Properties for a property that starts with pin_ so any unique letters or numbers after the underscore are valid.

_images/hal-04.png

The first item in the Value must be unique Flex HAL name, then seperated by commas the next item must be the HAL Pin Type then the HAL Pin Direction. The pin name created by Flex is flexhal.(the name you put first).

_images/hal-05.png

If you added Show HAL to your menu you can open up the Halshow program and view the pin names.

_images/hal-06.png

The pin names will all start with flexhal then the unique name you gave them.

_images/hal-07.png

Now you can connect the Flex HAL pin in the postgui.hal file like normal.

net some-signal-name flexhal.hal-test-01 => some-other-pin-in

After installing Flex GUI from the CNC menu you can copy the Flex GUI examples and look at the hal-btn example.

Homed Required

If the HAL button requires all joints to be homed before being enabled you can specifiy that by adding a Dynamic Property named required and set the value to homed.

_images/hal-08.png