commit 656b15ac4768f05a443961dcc533f42b84018866
Author: Jeff Epler <jepler@unpythonic.net>
Date:   Fri Oct 9 11:49:22 2015 -0500

    initial commit

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..600f913
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+*.var
+*.var.bak
diff --git a/rosh.hal b/rosh.hal
new file mode 100644
index 0000000..c125361
--- /dev/null
+++ b/rosh.hal
@@ -0,0 +1,55 @@
+loadrt trivkins
+loadrt motmod base_period_nsec=0 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+
+loadrt hostmot2
+loadrt hm2_eth board_ip=192.168.1.121 config="num_stepgens=7"
+loadrt estop_latch
+
+setp hm2_7i92.0.gpio.027.is_output 1
+
+
+setp hm2_7i92.0.stepgen.05.steplen 2000
+setp hm2_7i92.0.stepgen.05.stepspace 2000
+setp hm2_7i92.0.stepgen.05.dirhold 800
+setp hm2_7i92.0.stepgen.05.dirsetup 800
+setp hm2_7i92.0.stepgen.05.enable 1
+setp hm2_7i92.0.stepgen.05.maxaccel 1000
+setp hm2_7i92.0.stepgen.05.maxvel 300
+setp hm2_7i92.0.stepgen.05.position-scale     -53.33333
+
+setp hm2_7i92.0.stepgen.06.steplen 2000
+setp hm2_7i92.0.stepgen.06.stepspace 2000
+setp hm2_7i92.0.stepgen.06.dirhold 800
+setp hm2_7i92.0.stepgen.06.dirsetup 800
+setp hm2_7i92.0.stepgen.06.enable 1
+setp hm2_7i92.0.stepgen.06.maxaccel 1000
+setp hm2_7i92.0.stepgen.06.maxvel 300
+setp hm2_7i92.0.stepgen.06.position-scale     53.33333
+
+net X axis.0.motor-pos-cmd => hm2_7i92.0.stepgen.05.position-cmd
+net Y axis.1.motor-pos-cmd => hm2_7i92.0.stepgen.06.position-cmd
+net Xfb axis.0.motor-pos-fb <= hm2_7i92.0.stepgen.05.position-fb
+net Yfb axis.1.motor-pos-fb <= hm2_7i92.0.stepgen.06.position-fb
+
+net Zloop axis.2.motor-pos-cmd axis.2.motor-pos-fb
+
+setp hm2_7i92.0.pwmgen.01.scale 100
+net LO motion.spindle-on => hm2_7i92.0.pwmgen.01.enable
+net LP motion.analog-out-00 => hm2_7i92.0.pwmgen.01.value
+
+addf hm2_7i92.0.read-request servo-thread
+addf hm2_7i92.0.read         servo-thread
+addf motion-command-handler  servo-thread
+addf motion-controller       servo-thread
+addf estop-latch.0           servo-thread
+addf hm2_7i92.0.write        servo-thread
+
+# 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
+
+# A basic estop loop that only includes the hostmot watchdog.
+net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
+net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
+net watchdog hm2_7i92.0.watchdog.has_bit => estop-latch.0.fault-in
+
diff --git a/rosh.ini b/rosh.ini
new file mode 100644
index 0000000..bca67c2
--- /dev/null
+++ b/rosh.ini
@@ -0,0 +1,101 @@
+[EMC]
+MACHINE = Rosh_laser
+
+DEBUG =               0x7FFFFFFF
+#DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = .1
+
+MAX_FEED_OVERRIDE = 3.0
+MAX_SPINDLE_OVERRIDE = 2.0
+
+MAX_LINEAR_VELOCITY = 200
+
+DEFAULT_LINEAR_VELOCITY = 100
+
+INCREMENTS = 1mm, 2mm, 5mm, 10mm
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = .001
+
+[RS274NGC]
+PARAMETER_FILE = rosh.var
+
+[EMCMOT]
+COMM_TIMEOUT = 1.0
+COMM_WAIT = 0.01
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = rosh.hal
+
+[TRAJ]
+AXES = 3
+COORDINATES = X Y Z
+HOME = 0 0 0
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_VELOCITY=300
+MAX_LINEAR_VELOCITY=300
+
+[AXIS_0]
+TYPE = LINEAR
+MAX_VELOCITY = 200
+MAX_ACCELERATION = 800
+
+BACKLASH = 0
+
+FERROR = .1
+MIN_FERROR = .01
+
+HOME = 0
+HOME_OFFSET = 0
+HOME_SEQUENCE = 0
+
+MIN_LIMIT = -.01
+MAX_LIMIT = 36
+
+
+[AXIS_1]
+TYPE = LINEAR
+MAX_VELOCITY = 200
+MAX_ACCELERATION = 800
+
+BACKLASH = 0
+
+FERROR = .1
+MIN_FERROR = .01
+
+HOME = 0
+HOME_OFFSET = 0
+HOME_SEQUENCE = 0
+
+MIN_LIMIT = -.01
+MAX_LIMIT = 36
+
+
+[AXIS_2]
+TYPE = LINEAR
+MAX_VELOCITY = 200
+MAX_ACCELERATION = 800
+
+BACKLASH = 0
+
+FERROR = .1
+MIN_FERROR = .01
+
+HOME = 0
+HOME_OFFSET = 0
+HOME_SEQUENCE = 0
+
+MIN_LIMIT = -36
+MAX_LIMIT = .01
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = .1
+TOOL_TABLE=rosh.tbl