dodalem probe basic

configs/probe_basic_lathe/hallib/sim_spindle_encoder.hal

@@ -0,0 +1,39 @@
+# 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 2000.0 # 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