re-added probe basic lathe file to folder

Author: Lcvette

probe_basic_latc/__init__.py

@@ -0,0 +1,23 @@
+
+__version__ = '0.0.1'
+
+import os
+import qtpyvcp
+
+VCP_DIR = os.path.realpath(os.path.dirname(__file__))
+VCP_CONFIG_FILE = os.path.join(VCP_DIR, 'probe_basic.yml')
+
+
+def main(opts=None):
+
+    if opts is None:
+        from qtpyvcp.utilities.opt_parser import parse_opts
+        opts = parse_opts(vcp_cmd='probebasic',
+                          vcp_name='Probe Basic',
+                          vcp_version=__version__)
+
+    qtpyvcp.run_vcp(opts, VCP_CONFIG_FILE)
+
+
+if __name__ == '__main__':
+    main()

probe_basic_latc/hallib/core_sim_5.hal

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+# core HAL config file for simulation
+
+# first load all the RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS unlock_joints_mask=16
+# load 6 differentiators (for velocity and accel signals)
+loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
+# load additional blocks
+loadrt hypot names=vel_xy,vel_xyz
+
+# add motion controller functions to servo thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+# link the differentiator functions into the code
+addf ddt_x servo-thread
+addf ddt_xv servo-thread
+addf ddt_y servo-thread
+addf ddt_yv servo-thread
+addf ddt_z servo-thread
+addf ddt_zv servo-thread
+addf vel_xy servo-thread
+addf vel_xyz servo-thread
+
+# create HAL signals for position commands from motion module
+# loop position commands back to motion module feedback
+net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
+net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
+net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
+#net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
+#net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
+#net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
+#net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals
+net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
+net Xacc <= ddt_xv.out
+net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
+net Yacc <= ddt_yv.out
+net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
+net Zacc <= ddt_zv.out
+
+# Cartesian 2- and 3-axis velocities
+net XYvel vel_xy.out => vel_xyz.in1
+net XYZvel <= vel_xyz.out
+
+# estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+net spindle-fwd spindle.0.forward
+net spindle-rev spindle.0.reverse
+#net spindle-speed spindle.0.speed-out
+
+net lube iocontrol.0.lube
+net flood iocontrol.0.coolant-flood
+net mist iocontrol.0.coolant-mist

probe_basic_latc/hallib/sim_spindle_encoder.hal

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+# simulated spindle encoder (for spindle-synced moves)
+loadrt sim_spindle names=sim_spindle
+setp sim_spindle.scale 0.01666667
+
+loadrt limit2 names=limit_speed
+loadrt lowpass names=spindle_mass
+loadrt near names=near_speed
+
+# this limit doesnt make any sense to me:
+setp limit_speed.maxv 5000.0 # rpm/second
+
+# encoder reset control
+# hook up motion controller's sync output
+net spindle-index-enable spindle.0.index-enable <=> sim_spindle.index-enable
+
+# report our revolution count to the motion controller
+net spindle-pos sim_spindle.position-fb => spindle.0.revs
+
+# simulate spindle mass
+setp spindle_mass.gain .07
+
+# spindle speed control
+net spindle-speed-cmd  spindle.0.speed-out => limit_speed.in
+net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
+
+# for spindle velocity estimate
+net spindle-rpm-filtered spindle_mass.out spindle.0.speed-in near_speed.in2
+
+# at-speed detection
+setp near_speed.scale 1.1
+setp near_speed.difference 10
+
+net spindle-speed-cmd => near_speed.in1
+net spindle-at-speed near_speed.out spindle.0.at-speed
+
+addf limit_speed servo-thread
+addf spindle_mass servo-thread
+addf near_speed servo-thread
+addf sim_spindle servo-thread