joyd: Added control via joyd.

diff --git a/src/joyd/joyd.cc b/src/joyd/joyd.cc
index f41364e34e242b56b79336c30f4f4ad832269746..380109875494ea6ebc112ffd7627123857d99703 100644 (file)
--- a/src/joyd/joyd.cc
+++ b/src/joyd/joyd.cc
@@ -62,14 +62,14 @@ static void button_act(char state, int id)
        switch(id) {
                case BT1:
                        if(state) {
-                               act_lift(1000, 0);
+                               //act ON
                        } else {
                                ;//act OFF
                        }
                        break;
                case BT2:
                        if(state) {
-                               act_lift(10000, 0);
+                               //act ON
                        } else {
                                ;//act OFF
                        }
@@ -152,8 +152,38 @@ static void process_axis(int value, int id)
                case AXIS_R:
                        break;
                case AXIS_S1:
+                       switch (value) {
+                       case 32767:
+                               printf("jaws CLOSE\n");
+                               break;
+                       case -32767:
+                               printf("jaws OPEN\n");
+                               break;
+                       case 0:
+                               printf("jaws stop\n");
+                               break;
+                       default:
+                               printf("error!\n");
+                               break;
+                       }
                        break;
                case AXIS_S2:
+                       switch (value) {
+                       case 32767:
+                               act_lift(40000, 0);
+                               printf("lift DOWN\n");
+                               break;
+                       case -32767:
+                               act_lift(2000, 0);
+                               printf("lift UP\n");
+                               break;
+                       case 0:
+                               printf("lift stop\n");
+                               break;
+                       default:
+                               printf("error!\n");
+                               break;
+                       }
                        break;
                default:
                        printf("Unknown axis changed!\n");