add external pins ext_height_ovr_plus, ext_height_ovr_minus,
ext_height_ovr_reset to docs
probe test can be canceled via cycle stop or esc key
make manual cut button activate during manual cut
This allows a single channel to supply both position and index, most likely
to be useful for IO-limited lathe configurations.
Signed-off-by: andypugh <andy@bodgesoc.org>
close#1197
1) linuxcnc.in new option: -H dirname
to prepend 'dirname' to search path (HALLIB_PATH)
2) linuxcnc.in update usage() message
3) update docs: ini-config.txt
4) update docs: updating-linuxcnc.txt
Revised:
print HALLIB_PATH when '-H dirname' used
exit if specified dirname is invalid
Note: the dirname specified with '-H dirname' may be
absolute or relative to the working directory
where linuxcnc is invoked (not necessarily the ini
config dir). Example:
$ cd /tmp
$ mkdir try
$ echo "show pin axis.z" >|try/test.hal
$ linuxcnc -H try /somewhere/example.ini # uses test.hal
test.hal will be found as /tmp/try/test.hal
1) Control kinematics type by hal pin: motion.switchkins-type
The _integer_ value of this float hal pin is passed
to the kinematicsSwitch() function to select a
kinematics type.
2) Uses M68 (analog out) in a hal net like:
net :kinstype-select <= motion.analog-out-0N
net :kinstype-select => motion.switchins-type
3) Supports 3 switchable kinematic types (0,1,2)
Switching kinstype is managed by user supplied mcodes
that provide for interp-motion syncrhonization:
M428/M429/M130 (remap Mcode examples)
M128/M129/M130 (user Mcode examples with limits updates)
4) API change for kinematics:
All kinematics modules must export functions:
kinematicsSwitchable() (return 1 if supported)
kinematicsSwitch() (return 0 if ok)
or use macro (from kinematics.h):
KINS_NOT_SWITCHABLE
5) Provide a template (userkfuncs.c) and support building a
user kinematics module for RIP builds
6) Supported modules:
xyz[ab]c-trt-kins
pumakins
scarakins
genserkins
genhexkins
5axiskins (bridgemill)
7) file updates for src/emc/kinematics/:
genserfuncs.c: separated out genserkins functions
trtfuncs.c: separated out xyz[ab]c-trt-kins functions
userkfuncs.c: template user kins functions
ugenserkins.c: separated user program bin/genserkins
(declining support, not working)
8) Docs (asciidoc fmt): docs/src/motion/switchkins.txt
******************************************************
Initial branch 24nov19
Based on work of rushabh,plopes9000,jskangas
particularly:
https://forum.linuxcnc.org/10-advanced-configuration/31813-tcp-5-axis-kinematics?start=90#124848
******************************************************
misc updates:
scara use 6 joints as supported by vismach scaragui
switchkins sims: [RS274NGC]FEATURES=8 obsolete
[RS274NGC]HAL_PIN_VARS (default is 1(enable))
update genserkins jts 6,7,8 == u,v,w
with appropriate [KINS]JOINTS value
support for 5axiskins (bridgemill), refactor to:
1) support module 'coordinates' parameter and allow duplicate
letters for multiple joints for an axis letter
2) support A,U,V one-to-one to assigned joint
3) support switchkins
puma560gui: message if missing .obj files
