Circular blend arc alpha

.gitignore

@@ -29,3 +29,11 @@ docs/html/drivers
 /docs/src/source-highlight/local
 lib/python/gremlin.py
 lib/python/touchy
+# Miscellaneous generated files (Rob)
+cscope
+cscope.*
+*.kdev*
+oprofile*
+*.log
+position.txt
+*.9

configs/sim/axis/acc_test.ini

@@ -0,0 +1,209 @@
+# EMC controller parameters for a simulated machine.
+
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+
+# General section -------------------------------------------------------------
+[EMC]
+
+# Version of this INI file
+VERSION =               $Revision$
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-HAL-SIM-AXIS
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+;DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+# Name of display program, e.g., xemc
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+
+MAX_LINEAR_VELOCITY =   12
+DEFAULT_LINEAR_VELOCITY =   .25
+# Prefix to be used
+PROGRAM_PREFIX = ../../../nc_files/
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+EDITOR = gedit
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
+
+# Task controller section -----------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# Interval between tries to emcmot, in seconds
+COMM_WAIT =             0.010
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+#POSTGUI_HALFILE = test_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[TRAJ]
+
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      1.2
+POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY =   12
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[AXIS_0]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8.3333
+MAX_ACCELERATION =              40
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                20.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# Second axis
+[AXIS_1]
+
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  8.3333
+MAX_ACCELERATION =              30
+BACKLASH = 0.000
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                20.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[AXIS_2]
+
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  8.333333
+MAX_ACCELERATION =              20
+BACKLASH = 0.0
+INPUT_SCALE =                   2000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0001
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                20.0
+HOME_LATCH_VEL =                 20.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+
+# Name of IO controller program, e.g., io
+EMCIO = 		io
+
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

configs/sim/axis/axis.ini

@@ -38,7 +38,7 @@ POSITION_FEEDBACK =     ACTUAL
 MAX_FEED_OVERRIDE =     1.2
 MAX_SPINDLE_OVERRIDE =  1.0
 
-MAX_LINEAR_VELOCITY =   1.2
+MAX_LINEAR_VELOCITY =   5
 DEFAULT_LINEAR_VELOCITY =   .25
 # Prefix to be used
 PROGRAM_PREFIX = ../../../nc_files/