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Spindles: Make spindle velocity limits and plus/minus increments

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INI-config items.


Signed-off-by: andypugh <andy@bodgesoc.org>
This commit is contained in:
andypugh 2021-12-31 00:04:32 +00:00
parent 14a02d19b0
commit 3d005f685d
12 changed files with 374 additions and 38 deletions
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42
docs/src/config/ini-config.adoc
View file

@ -284,17 +284,22 @@ On multi spindle machine there will be entries for each spindle number. Qtvcp on
* 'DEFAULT_SPINDLE_SPEED = 100' - The default spindle RPM when the spindle
is started in manual mode. if this setting is not present, this
defaults to 1 RPM for AXIS and 300 RPM for gmoccapy.
- deprecated - use the [SPINDLE_n] section instead
* 'DEFAULT_SPINDLE_0_SPEED = 100' - The default spindle RPM when the spindle
is started in manual mode. On multi spindle machine there will be entries for each spindle number. Qtvcp only
- deprecated - use the [SPINDLE_n] section instead
* 'SPINDLE_INCREMENT = 200' - The increment used when clicking increase/decrease buttons Qtvcp only
- deprecated - use the [SPINDLE_n] section instead
* 'MIN_SPINDLE_0_SPEED = 1000' - The minimum RPM that can be manually selected.
On multi spindle machine there will be entries for each spindle number. Qtvcp only
- deprecated - use the [SPINDLE_n] section instead
* 'MAX_SPINDLE_0_SPEED = 20000' - The maximum RPM that can be manually selected.
On multi spindle machine there will be entries for each spindle number. Qtvcp only
- deprecated - use the [SPINDLE_n] section instead
* 'PROGRAM_PREFIX = ~/linuxcnc/nc_files' - The default location for g-code
files and the location for user-defined M-codes. This location is searched
@ -1585,6 +1590,43 @@ image::images/encoder-scale.png[align="center"]
than the joint MAX_VELOCITY. Subsequent testing has shown that use of
STEPGEN_MAXVEL does not improve the tuning of stepgen's position loop.
[[sec:spindle-section]](((INI File, SPINDLE Section)))
=== [SPINDLE_<num>] Section
The <num> specifies the spindle number 0 ... (num_spindles-1)
The value of 'num_spindles' is set by [TRAJ]SPINDLES=
* 'MAX_VELOCITY = 20000'
The maximum spindle speed (in rpm) for the specified spindle. Optional.
* 'MIN_VELOCITY = 3000'
The minimum spindle speed (in rpm) for the specified spindle. Optional.
Many spindles have a minimum speed below which they should not be run.
Any spindle speed command below this limit will be /increased/ to this
limit.
* 'MAX_REVERSE_VELOCITY = 20000'
This setting will default to MAX_VELOCITY if omitted. It can be used
in cases where the spindle speed is limited in reverse. Set to zero
for spindles which must not be run in reverse.
In this context "max" refers to the abslute magnitude of the spindle
speed.
* 'MIN_REVERSE_VELOCITY = 3000'
This setting is equivalent to MIN_VELOCITY but for reverse spindle
rotation. It will default to the MIN_VELOCITY if omitted.
* 'HOME_SEARCH_VELOCITY = 100' - FIXME: Spindle homing not yet working
Sets the homing speed (rpm) for the spindle. The spindle will rotate
at this velocity during the homing sequence until the spindle index
is located, at which point the spindle position will be set to zero.
Note that it makes no sense for the spindle home position to be any
value other than zero, and so there is no provision to do so.
* 'HOME_SEQUENCE = 0' - FIXME: Spindle homing not yet working
Controls where in the general homing sequence the spindle homing
rotations occur. Set the HOME_SEARCH_VELOCITY to zero to avoid spindle
rotation during the homing sequence
[[sec:emcio-section]](((INI File, EMCIO Section)))

1
src/Makefile
View file

@ -314,6 +314,7 @@ HEADERS := \
emc/ini/emcIniFile.hh \
emc/ini/iniaxis.hh \
emc/ini/inijoint.hh \
emc/ini/inispindle.hh \
emc/ini/initraj.hh \
emc/ini/inihal.hh \
emc/kinematics/cubic.h \

1
src/emc/ini/inihal.cc
View file

@ -26,6 +26,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#include "rtapi.h"
#include "inihal.hh"
#include "iniaxis.hh"
#include "inispindle.hh"
static int debug=0;
static int comp_id;

128
src/emc/ini/inispindle.cc Normal file
View file

@ -0,0 +1,128 @@
/********************************************************************
* Description: inispindle.cc
* INI file initialization routines for spindle NML
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author: Andy Pugh
* License: GPL Version 2+
* System: Linux
*
* Copyright (c) 2021 All rights reserved.
*
* Last change: created 30/12/21
********************************************************************/
#include <unistd.h>
#include <stdio.h> // NULL
#include <stdlib.h> // atol(), _itoa()
#include <string.h> // strcmp()
#include <ctype.h> // isdigit()
#include <sys/types.h>
#include <sys/stat.h>
#include "emc.hh"
#include "rcs_print.hh"
#include "emcIniFile.hh"
#include "inispindle.hh" // these decls
#include "emcglb.h" // EMC_DEBUG
#include "emccfg.h" // default values for globals
#include "inihal.hh"
extern value_inihal_data old_inihal_data;
/*
loadSpindls(int spindle)
Loads ini file params for the specified spindle
spindle max and min velocities
*/
static int loadSpindle(int spindle, EmcIniFile *spindleIniFile)
{
int num_spindles = 1;
char spindleString[11];
double max_pos = 1e99;
double max_neg = 0;
double min_pos = 0;
double min_neg = -1e99;
int home_sequence = 0;
double search_vel = 0;
double home_angle = 0;
double increment = 100;
double limit;
spindleIniFile->EnableExceptions(EmcIniFile::ERR_CONVERSION);
if (spindleIniFile->Find(&num_spindles, "SPINDLES", "TRAJ") < 0){
num_spindles = 1; }
if (spindle > num_spindles) return -1;
snprintf(spindleString, sizeof(spindleString), "SPINDLE_%i", spindle);
// set max positive speed limit
if (spindleIniFile->Find(&limit, "MAX_VELOCITY", spindleString) == 0){
max_pos = limit;
min_neg = limit;
}
// set min positive speed limit
if (spindleIniFile->Find(&limit, "MIN_VELOCITY", spindleString) == 0){
min_pos = limit;
max_neg = limit;
}
// set min negative speed limit
if (spindleIniFile->Find(&limit, "MIN_REVERSE_VELOCITY", spindleString) == 0){
max_neg = -1.0 * fabs(limit);
}
// set max negative speed limit
if (spindleIniFile->Find(&limit, "MAX_REVERSE_VELOCITY", spindleString) == 0){
min_neg = -1.0 * fabs(limit);
}
// set home sequence
if (spindleIniFile->Find(&limit, "HOME_SEQUENCE", spindleString) == 0){
home_sequence = (int)limit;
}
// set home velocity
if (spindleIniFile->Find(&limit, "HOME_SEARCH_VELOCITY", spindleString) == 0){
search_vel = (int)limit;
}
/* set home angle - I believe this is a bad idea - andypugh 30/12/21
if (spindleIniFile->Find(&limit, "HOME", spindleString) >= 0){
home_angle = (int)limit;
}*/
home_angle = 0;
// set spindle increment
if (spindleIniFile->Find(&limit, "INCREMENT", spindleString) == 0){
increment = limit;
}
if (0 != emcSpindleSetParams(spindle, max_pos, min_pos, max_neg,
min_neg, search_vel, home_angle, home_sequence, increment)) {
return -1;
}
return 0;
}
/*
iniAxis(int axis, const char *filename)
Loads ini file parameters for specified axis, [0 .. AXES - 1]
*/
int iniSpindle(int spindle, const char *filename)
{
EmcIniFile spindleIniFile(EmcIniFile::ERR_TAG_NOT_FOUND |
EmcIniFile::ERR_SECTION_NOT_FOUND |
EmcIniFile::ERR_CONVERSION);
if (spindleIniFile.Open(filename) == false) {
return -1;
}
// load its values
if (0 != loadSpindle(spindle, &spindleIniFile)) {
return -1;
}
return 0;
}

22
src/emc/ini/inispindle.hh Normal file
View file

@ -0,0 +1,22 @@
/********************************************************************
* Description: inispindle.hh
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2021 All rights reserved.
*
* Last change: file created by andypugh 30/12/21
********************************************************************/
#ifndef INISPINDLE_HH
#define INISPINDLE_HH
#include "emc.hh" // EMC_AXIS_STAT
/* initializes spindle modules from ini file */
extern int iniSpindle(int spindle, const char *filename);
#endif

58
src/emc/motion/command.c
View file

@ -193,6 +193,16 @@ void refresh_jog_limits(emcmot_joint_t *joint, int joint_num)
}
}
void apply_spindle_limits(spindle_status_t *s){
if (s->speed > 0) {
if (s->speed > s->max_pos_speed) s->speed = s->max_pos_speed;
if (s->speed < s->min_pos_speed) s->speed = s->min_pos_speed;
} else if (s->speed < 0) {
if (s->speed < s->min_neg_speed) s->speed = s->min_neg_speed;
if (s->speed > s->max_neg_speed) s->speed = s->max_neg_speed;
}
}
static int check_axis_constraint(double target, int id, char *move_type,
int axis_no, char axis_name) {
int in_range = 1;
@ -1738,6 +1748,27 @@ void emcmotCommandHandler(void *arg, long servo_period)
}
break;
case EMCMOT_SET_SPINDLE_PARAMS:
rtapi_print_msg(RTAPI_MSG_DBG, "SPINDLE_SETUP: spindle %d/%d max_pos %f min_pos %f"
"max_neg %f min_neg %f, home: %f, %f, %d\n",
emcmotCommand->spindle, emcmotConfig->numSpindles, emcmotCommand->maxLimit,
emcmotCommand->min_pos_speed, emcmotCommand->max_neg_speed, emcmotCommand->minLimit,
emcmotCommand->search_vel, emcmotCommand->home, emcmotCommand->home_sequence);
spindle_num = emcmotCommand->spindle;
if (spindle_num >= emcmotConfig->numSpindles){
reportError(_("Attempt to configure non-existent spindle"));
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
break;
}
emcmotStatus->spindle_status[spindle_num].max_pos_speed = emcmotCommand->maxLimit;
emcmotStatus->spindle_status[spindle_num].min_neg_speed = emcmotCommand->minLimit;
emcmotStatus->spindle_status[spindle_num].max_neg_speed = emcmotCommand->max_neg_speed;
emcmotStatus->spindle_status[spindle_num].min_pos_speed = emcmotCommand->min_pos_speed;
emcmotStatus->spindle_status[spindle_num].home_search_vel = emcmotCommand->search_vel;
emcmotStatus->spindle_status[spindle_num].home_sequence = emcmotCommand->home_sequence;
emcmotStatus->spindle_status[spindle_num].increment = emcmotCommand->offset;
break;
case EMCMOT_SPINDLE_ON:
rtapi_print_msg(RTAPI_MSG_DBG, "SPINDLE_ON: spindle %d/%d speed %d\n",
emcmotCommand->spindle, emcmotConfig->numSpindles, (int) emcmotCommand->vel);
@ -1780,6 +1811,7 @@ void emcmotCommandHandler(void *arg, long servo_period)
emcmotStatus->spindle_status[n].direction = -1;
}
emcmotStatus->spindle_status[n].brake = 0; //disengage brake
apply_spindle_limits(&emcmotStatus->spindle_status[n]);
}
emcmotStatus->atspeed_next_feed = emcmotCommand->wait_for_spindle_at_speed;
@ -1882,10 +1914,11 @@ void emcmotCommandHandler(void *arg, long servo_period)
}
for (n = s0; n<=s1; n++){
if (emcmotStatus->spindle_status[n].speed > 0) {
emcmotStatus->spindle_status[n].speed += 100; //FIXME - make the step a HAL parameter
emcmotStatus->spindle_status[n].speed += emcmotStatus->spindle_status[n].increment;
} else if (emcmotStatus->spindle_status[n].speed < 0) {
emcmotStatus->spindle_status[n].speed -= 100;
emcmotStatus->spindle_status[n].speed -= emcmotStatus->spindle_status[n].increment;
}
apply_spindle_limits(&emcmotStatus->spindle_status[n]);
}
break;
@ -1897,12 +1930,21 @@ void emcmotCommandHandler(void *arg, long servo_period)
emcmotStatus->commandStatus = EMCMOT_COMMAND_INVALID_COMMAND;
break;
}
if (emcmotStatus->spindle_status[spindle_num].speed > 100) {
emcmotStatus->spindle_status[spindle_num].speed -= 100; //FIXME - make the step a HAL parameter
} else if (emcmotStatus->spindle_status[spindle_num].speed < -100) {
emcmotStatus->spindle_status[spindle_num].speed += 100;
}
break;
s0 = spindle_num;
s1 = spindle_num;
if (spindle_num ==-1){
s0 = 0;
s1 = motion_num_spindles - 1;
}
for (n = s0; n<=s1; n++){
if (emcmotStatus->spindle_status[n].speed > emcmotStatus->spindle_status[n].increment) {
emcmotStatus->spindle_status[n].speed -= emcmotStatus->spindle_status[n].increment;
} else if (emcmotStatus->spindle_status[n].speed < -1.0 * emcmotStatus->spindle_status[n].increment) {
emcmotStatus->spindle_status[n].speed += emcmotStatus->spindle_status[n].increment;
}
apply_spindle_limits(&emcmotStatus->spindle_status[n]);
}
break;
case EMCMOT_SPINDLE_BRAKE_ENGAGE:
rtapi_print_msg(RTAPI_MSG_DBG, "SPINDLE_BRAKE_ENGAGE");

52
src/emc/motion/control.c
View file

@ -1940,10 +1940,10 @@ static void output_to_hal(void)
}
for (spindle_num = 0; spindle_num < emcmotConfig->numSpindles; spindle_num++){
double speed;
if(emcmotStatus->spindle_status[spindle_num].css_factor) {
double denom = fabs(emcmotStatus->spindle_status[spindle_num].xoffset
- emcmotStatus->carte_pos_cmd.tran.x);
double speed;
double maxpositive;
if(denom > 0) speed = emcmotStatus->spindle_status[spindle_num].css_factor / denom;
else speed = emcmotStatus->spindle_status[spindle_num].speed;
@ -1955,32 +1955,38 @@ static void output_to_hal(void)
speed = -maxpositive;
if(speed > maxpositive)
speed = maxpositive;
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out) = speed;
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_rps) = speed/60.;
} else {
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out) =
emcmotStatus->spindle_status[spindle_num].speed *
speed = emcmotStatus->spindle_status[spindle_num].speed *
emcmotStatus->spindle_status[spindle_num].net_scale;
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_rps) =
emcmotStatus->spindle_status[spindle_num].speed *
emcmotStatus->spindle_status[spindle_num].net_scale / 60.;
}
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_abs) =
fabs(*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out));
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_rps_abs) =
fabs(*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_rps));
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_cmd_rps) =
// Limit to spindle velocity limits
if (speed > 0){
if (speed > emcmotStatus->spindle_status[spindle_num].max_pos_speed) {
speed = emcmotStatus->spindle_status[spindle_num].max_pos_speed;
} else if (speed < emcmotStatus->spindle_status[spindle_num].min_pos_speed) {
speed = emcmotStatus->spindle_status[spindle_num].min_pos_speed;
}
} else if (speed < 0) {
if (speed < emcmotStatus->spindle_status[spindle_num].min_neg_speed) {
speed = emcmotStatus->spindle_status[spindle_num].min_neg_speed;
} else if (speed > emcmotStatus->spindle_status[spindle_num].max_neg_speed) {
speed = emcmotStatus->spindle_status[spindle_num].max_neg_speed;
}
}
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out) = speed;
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_rps) = speed/60.;
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_abs) = fabs(speed);
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_out_rps_abs) = fabs(speed / 60);
*(emcmot_hal_data->spindle[spindle_num].spindle_on) = (speed != 0) ? 1 : 0;
*(emcmot_hal_data->spindle[spindle_num].spindle_forward) = (speed > 0) ? 1 : 0;
*(emcmot_hal_data->spindle[spindle_num].spindle_reverse) = (speed < 0) ? 1 : 0;
*(emcmot_hal_data->spindle[spindle_num].spindle_brake) =
(emcmotStatus->spindle_status[spindle_num].brake != 0) ? 1 : 0;
// What is this for? Docs don't say
*(emcmot_hal_data->spindle[spindle_num].spindle_speed_cmd_rps) =
emcmotStatus->spindle_status[spindle_num].speed / 60.;
*(emcmot_hal_data->spindle[spindle_num].spindle_on) =
((emcmotStatus->spindle_status[spindle_num].state *
emcmotStatus->spindle_status[spindle_num].net_scale) != 0) ? 1 : 0;
*(emcmot_hal_data->spindle[spindle_num].spindle_forward) =
(*emcmot_hal_data->spindle[spindle_num].spindle_speed_out > 0) ? 1 : 0;
*(emcmot_hal_data->spindle[spindle_num].spindle_reverse) =
(*emcmot_hal_data->spindle[spindle_num].spindle_speed_out < 0) ? 1 : 0;
*(emcmot_hal_data->spindle[spindle_num].spindle_brake) =
(emcmotStatus->spindle_status[spindle_num].brake != 0) ? 1 : 0;
}
*(emcmot_hal_data->program_line) = emcmotStatus->id;

20
src/emc/motion/motion.h
View file

@ -189,6 +189,8 @@ extern "C" {
EMCMOT_SET_AXIS_ACC_LIMIT, /* set the max axis acc */
EMCMOT_SET_AXIS_LOCKING_JOINT, /* set the axis locking joint */
EMCMOT_SET_SPINDLE_PARAMS, /* One command to set all spindle params */
} cmd_code_t;
/* this enum lists the possible results of a command */
@ -220,6 +222,8 @@ extern "C" {
double motor_offset; /* offset from joint to motor position */
double maxLimit; /* pos value for position limit, output */
double minLimit; /* neg value for position limit, output */
double min_pos_speed; /* spindle minimum positive speed */
double max_neg_speed; /* spindle maximum negative speed */
EmcPose pos; /* line/circle endpt, or teleop vector */
PmCartesian center; /* center for circle */
PmCartesian normal; /* normal vec for circle */
@ -541,11 +545,19 @@ Suggestion: Split this in to an Error and a Status flag register..
int locked; // spindle lock engaged after orient
int orient_fault; // fault code from motion.spindle-orient-fault
int orient_state; // orient_state_t
int spindle_index_enable; /* hooked to a canon encoder index-enable */
double spindleRevs; /* position of spindle in revolutions */
double spindleSpeedIn; /* velocity of spindle in revolutions per minute */
int at_speed;
int spindle_index_enable; /* hooked to a canon encoder index-enable */
double spindleRevs; /* position of spindle in revolutions */
double spindleSpeedIn; /* velocity of spindle in revolutions per minute */
int at_speed;
int fault; /* amplifier fault */
double max_pos_speed; /* spindle speed limits */
double min_pos_speed; /* signed values, so max_neg = 0 */
double max_neg_speed; /* and min_neg = -1e99 indicates no limit */
double min_neg_speed;
double home_angle;
double home_search_vel;
int home_sequence;
double increment;
} spindle_status_t;
typedef struct {

1
src/emc/nml_intf/Submakefile
View file

@ -11,6 +11,7 @@ LIBEMCSRCS := \
emc/ini/emcIniFile.cc \
emc/ini/iniaxis.cc \
emc/ini/inijoint.cc \
emc/ini/inispindle.cc \
emc/ini/initraj.cc \
emc/ini/inihal.cc \
emc/nml_intf/interpl.cc

6
src/emc/nml_intf/emc.hh
View file

@ -384,6 +384,12 @@ extern int emcJogAbs(int nr, double pos, double vel, int jjogmode);
extern int emcJointUpdate(EMC_JOINT_STAT stat[], int numJoints);
// implementation functions for EMC_SPINDLE types
extern int emcSpindleSetParams(int spindle, double max_pos, double min_pos, double max_neg,
double min_neg, double search_vel, double home_angle, int sequence, double increment);
// implementation functions for EMC_TRAJ types
extern int emcTrajSetJoints(int joints);

10
src/emc/nml_intf/emcglb.h
View file

@ -77,6 +77,16 @@ typedef struct AxisConfig_t {
double MaxLimit;
} AxisConfig_t;
typedef struct SpindleConfig_t {
int Inited;
double max_pos_speed;
double max_neg_speed;
double min_pos_speed;
double min_neg_speed;
int home_sequence;
double home_search_velocity;
} SpindleConfig_t;
typedef struct TrajConfig_t {
int Inited; // non-zero means traj called init
int Joints;

71
src/emc/task/taskintf.cc
View file

@ -31,6 +31,7 @@
#include "inifile.hh"
#include "iniaxis.hh"
#include "inijoint.hh"
#include "inispindle.hh"
#include "initraj.hh"
#include "inihal.hh"
@ -72,6 +73,7 @@ static emcmot_status_t emcmotStatus;
static struct TrajConfig_t TrajConfig;
static struct JointConfig_t JointConfig[EMCMOT_MAX_JOINTS];
static struct AxisConfig_t AxisConfig[EMCMOT_MAX_AXIS];
static struct SpindleConfig_t SpindleConfig[EMCMOT_MAX_SPINDLES];
static emcmot_command_t emcmotCommand;
@ -586,13 +588,18 @@ int emcAxisUpdate(EMC_AXIS_STAT stat[], int axis_mask)
static int JointOrTrajInited(void)
{
int joint;
int joint, spindle;
for (joint = 0; joint < EMCMOT_MAX_JOINTS; joint++) {
if (JointConfig[joint].Inited) {
return 1;
}
}
for (spindle = 0; spindle < EMCMOT_MAX_SPINDLES; spindle++) {
if (SpindleConfig[spindle].Inited) {
return 1;
}
}
if (TrajConfig.Inited) {
return 1;
}
@ -640,6 +647,27 @@ int emcAxisInit(int axis)
return retval;
}
int emcSpindleInit(int spindle)
{
int retval = 0;
if (spindle < 0 || spindle >= EMCMOT_MAX_SPINDLES) {
return 0;
}
// init emcmot interface
if (!JointOrTrajInited()) {
usrmotIniLoad(emc_inifile);
if (0 != usrmotInit("emc2_task")) {
return -1;
}
}
SpindleConfig[spindle].Inited = 1;
if (0 != iniSpindle(spindle, emc_inifile)) {
retval = -1;
}
return retval;
}
int emcJointHalt(int joint)
{
if (joint < 0 || joint >= EMCMOT_MAX_JOINTS) {
@ -1708,7 +1736,7 @@ int emcPositionSave() {
int emcMotionInit()
{
int r;
int joint, axis;
int joint, axis, spindle;
r = emcTrajInit(); // we want to check Traj first, the sane defaults for units are there
// it also determines the number of existing joints, and axes
@ -1731,7 +1759,15 @@ int emcMotionInit()
return -1;
}
}
}
}
for (spindle = 0; spindle < TrajConfig.Spindles; spindle++) {
if (0 != emcSpindleInit(spindle)) {
rcs_print("%s: emcSpindleInit(%d) failed\n", __FUNCTION__, spindle);
return -1;
}
}
// Ignore errors from emcPositionLoad(), because what are you going to do?
(void)emcPositionLoad();
@ -1834,6 +1870,35 @@ int emcMotionSetDout(unsigned char index, unsigned char start,
return usrmotWriteEmcmotCommand(&emcmotCommand);
}
int emcSpindleSetParams(int spindle, double max_pos, double min_pos, double max_neg,
double min_neg, double search_vel, double home_angle, int sequence, double increment)
{
if (spindle < 0 || spindle >= EMCMOT_MAX_SPINDLES) {
return 0;
}
emcmotCommand.command = EMCMOT_SET_SPINDLE_PARAMS;
emcmotCommand.spindle = spindle;
emcmotCommand.maxLimit = max_pos;
emcmotCommand.minLimit = min_neg;
emcmotCommand.min_pos_speed = min_pos;
emcmotCommand.max_neg_speed = max_neg;
emcmotCommand.home = home_angle;
emcmotCommand.search_vel = search_vel;
emcmotCommand.home_sequence = sequence;
emcmotCommand.offset = increment;
int retval = usrmotWriteEmcmotCommand(&emcmotCommand);
if (emc_debug & EMC_DEBUG_CONFIG) {
rcs_print("%s(%d, %.4f, %.4f, %.4f, %.4f, %.4f, %.4f, %i, %.4f) returned %d\n",
__FUNCTION__, spindle, max_pos, min_pos, max_neg, min_neg, search_vel, home_angle,
sequence, increment, retval);
}
return retval;
}
int emcSpindleAbort(int spindle)
{
return emcSpindleOff(spindle);