176 lines
4.5 KiB
Plaintext
176 lines
4.5 KiB
Plaintext
# HAL config file for vismach simulation of a VMC
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# This is quite a complex HAL file, and it is very unlikely any of it will be relevant to a real machine.
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# All the HAL functions here are related to making the Vismach model look like a real machine to the other HAL files
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# ie, this creates things like limit switches which would be driven by real hardware on a real machine.
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# load the vismach model
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loadusr -W ./vmcgui
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loadrt mult2 count=3
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loadrt wcomp names=xlim,ylim,zlim,armsw,drawsw,locksw
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loadrt mux2 names=armpos,drawpos,lockpos,mux2.0
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loadrt mux4 names=cardir
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loadrt sum2 names=carpos,spindlepos
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loadrt limit2 names=armlim,drawlim,locklim,spindlelim
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addf mult2.0 servo-thread
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addf mult2.1 servo-thread
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addf mult2.2 servo-thread
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addf xlim servo-thread
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addf ylim servo-thread
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addf zlim servo-thread
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addf carpos servo-thread
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addf cardir servo-thread
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setp mult2.0.in0 25.4
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setp mult2.1.in0 25.4
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setp mult2.2.in0 25.4
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setp xlim.max 12.1
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setp xlim.min -12.1
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setp ylim.max 0.1
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setp ylim.min -8.1
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setp zlim.max 0.1
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setp zlim.min -16.1
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net x-pos-lim xlim.over
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net x-neg-lim xlim.under
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net y-pos-lim ylim.over
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net y-neg-lim ylim.under
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net z-pos-lim zlim.over
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net z-neg-lim zlim.under
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net x-pos xlim.in mult2.0.in1
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net x-conv mult2.0.out vmcgui.X
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net y-pos ylim.in mult2.1.in1
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net y-conv mult2.1.out vmcgui.Y
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net z-pos zlim.in mult2.2.in1
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net z-conv mult2.2.out vmcgui.Z
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#simulated arm
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setp vmcgui.arm -20
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addf armpos servo-thread
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addf armlim servo-thread
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addf armsw servo-thread
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setp armpos.in0 -20
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setp armpos.in1 5
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net arm-act armpos.sel
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net arm-set armpos.out armlim.in
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net arm-pos armlim.out armsw.in vmcgui.arm
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setp armlim.max 5
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setp armlim.min -20
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setp armlim.maxv 20
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setp armsw.max 4
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setp armsw.min -19
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net arm-out armsw.under
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net arm-in armsw.over
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#simulated carousel with 5 Gray-coded outputs
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setp cardir.in0 0
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setp cardir.in1 0.001
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setp cardir.in2 -0.001
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setp cardir.in3 0
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net car-cw cardir.sel1
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net car-ccw cardir.sel0
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net car-dir cardir.out carpos.in0
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net car-pos carpos.out carpos.in1 vmcgui.carousel
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loadrt conv_float_u32
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addf conv-float-u32.0 servo-thread
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net car-pos conv-float-u32.0.in
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loadrt bin2gray
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addf bin2gray.0 servo-thread
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net sim-pocket-u conv-float-u32.0.out bin2gray.0.in
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loadrt bitslice personality=5
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addf bitslice.0 servo-thread
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net graycode bin2gray.0.out bitslice.0.in
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net bit0 bitslice.0.out-00
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net bit1 bitslice.0.out-01
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net bit2 bitslice.0.out-02
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net bit3 bitslice.0.out-03
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net bit4 bitslice.0.out-04
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# pulse and index output variant (untidy modmaths)
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loadrt conv_s32_float count=2
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loadrt conv_float_s32 count=3
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loadrt near count=3
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loadrt scale count=2
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addf conv-s32-float.0 servo-thread
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addf conv-float-s32.0 servo-thread
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addf conv-s32-float.1 servo-thread
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addf conv-float-s32.1 servo-thread
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addf scale.0 servo-thread
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addf near.1 servo-thread
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addf near.2 servo-thread
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net car-pos conv-float-s32.0.in
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net car-pos-int conv-float-s32.0.out conv-s32-float.0.in
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net car-pos-float conv-s32-float.0.out near.1.in2
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net car-pos near.1.in1
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net pulse near.1.out
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setp near.1.difference 0.01
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setp scale.0.gain 0.08333333
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setp scale.0.offset -1 # to show-off index homing
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net car-pos scale.0.in
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net car-pos-div12 scale.0.out conv-float-s32.1.in
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net car-pos-div12-int conv-float-s32.1.out conv-s32-float.1.in
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net car-pos-div12-float conv-s32-float.1.out near.2.in2
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net car-pos-div12 near.2.in1
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net index near.2.out
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setp near.2.difference 0.009
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#simulated spindle
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addf spindlepos servo-thread
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addf spindlelim servo-thread
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setp spindlelim.max 6000
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setp spindlelim.min -6000
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setp spindlelim.maxv 100
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net spindle-cmd spindlelim.in
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net spindle-vel spindlelim.out spindlepos.in0
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setp spindlepos.gain0 .00001666
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setp spindlepos.in1 0
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net spindle-pos spindlepos.out spindlepos.in1 vmcgui.spindle
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#simulated drawbar
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setp vmcgui.drawbar 5
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addf drawpos servo-thread
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addf drawlim servo-thread
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addf drawsw servo-thread
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setp drawpos.in0 5
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setp drawpos.in1 0
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net tool-release drawpos.sel
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net draw-set drawpos.out drawlim.in
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setp drawlim.max 5
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setp drawlim.min 0
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setp drawlim.maxv 20
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net draw-pos drawlim.out drawsw.in vmcgui.drawbar
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setp drawsw.max 4
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setp drawsw.min 1
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net tool-locked drawsw.over
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net tool-released drawsw.under
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#simulated carousel lock
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setp vmcgui.lock 5
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addf lockpos servo-thread
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addf locklim servo-thread
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addf locksw servo-thread
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setp lockpos.in0 0
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setp lockpos.in1 5
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net car-lock lockpos.sel
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net lock-set lockpos.out locklim.in
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setp locklim.max 5
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setp locklim.min 0
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setp locklim.maxv 20
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net lock-pos locklim.out locksw.in vmcgui.lock
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setp locksw.max 4
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setp locksw.min 1
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net car-locked locksw.over
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net car-released locksw.under
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