Rigid Tapping Help

###############################################################################
# Spindle Control section
###############################################################################
[SPINDLE]

# High Gear
MAX_RPM_HIGH	=	3000
GEAR_RATIO      =   2
# Low Gear
SCALE_LOW   	=	1650
OFFSET_LOW  	=	0.035
MAX_RPM_LOW    	=	1500

# Spindle at Speed tolerance (RPM)
TOLERANCE   =		200

# Preset Speeds for GUI
S1              =   400
S2              =   1000
S3              =   2800

###############################################################################
# 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 =                	stepper_xyza.hal
HALFILE =                    	standard_pinout.hal
HALFILE = 			Spindle.hal
HALFILE =			manualtoolchange.hal
POSTGUI_HALFILE = 		sherline-mill-gVCP.hal

# Spindle Control File

loadrt abs count=1
loadrt pwmgen output_type=0

# spindle speed feedback
loadrt encoder num_chan=1
loadrt lowpass count=1
loadrt mult2 count=1
loadrt near

loadrt gearchange

# base thread
addf pwmgen.make-pulses base-thread
addf encoder.update-counters base-thread

#servo thread
addf pwmgen.update servo-thread
addf abs.0 servo-thread
addf encoder.capture-position servo-thread
addf lowpass.0 servo-thread
addf near.0 servo-thread
addf mult2.0 servo-thread
addf gearchange.0 servo-thread 

#Spindle Control
net spindle-enable <= motion.spindle-on => pwmgen.0.enable

net spindle-cmd <= motion.spindle-speed-out => gearchange.0.speed-in
net spindle-cmd-scaled <= gearchange.0.speed-out => pwmgen.0.value
net spindle-pwm <= pwmgen.0.pwm


#Spindle Speed Scaling
setp pwmgen.0.pwm-freq 5
 
setp gearchange.0.min1 0
setp gearchange.0.max1 [SPINDLE]MAX_RPM_LOW
setp gearchange.0.min2 0
setp gearchange.0.max2 [SPINDLE]MAX_RPM_HIGH
setp gearchange.0.scale2 [SPINDLE]GEAR_RATIO
 
setp pwmgen.0.scale [SPINDLE]SCALE_LOW	#low gear
setp pwmgen.0.offset [SPINDLE]OFFSET_LOW	#low gear
setp pwmgen.0.dither-pwm true

#Spindle Feedback

setp encoder.0.position-scale 6.000000
setp encoder.0.counter-mode 1

# report our revolution count to the motion controller
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity encoder.0.velocity => motion.spindle-speed-in
net spindle-phase-a encoder.0.phase-A

setp lowpass.0.gain 0.01
net spindle-velocity => lowpass.0.in
net spindle-fb-filtered <= lowpass.0.out

net spindle-fb-filtered mult2.0.in1
net spindle-fb-rpm mult2.0.out
setp mult2.0.in0 60

# Test for spindle at speed
net spindle-cmd near.0.in1
net spindle-fb-rpm near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
setp near.0.difference [SPINDLE]TOLERANCE  #If within 100 RPM

#Connect to physical pins

setp parport.0.pin-01-out-invert 1
net spindle-pwm => parport.0.pin-01-out
setp parport.0.pin-17-out-invert 1
net spindle-enable => parport.0.pin-17-out

net spindle-phase-a <= parport.0.pin-15-in-not

# create a 'estop-is-deactivated' signal
loadrt not count=3 #names=not.0,not.1
addf not.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
net estop halui.estop.is-activated => not.0.in

# and activate the settings box when estop is off
#net estop-inactive not.0.out => gladevcp.settings

# activate the spindle HAL table and all its children when the machine is on
net machine-on halui.machine.is-on => gladevcp.spindle => gladevcp.pulley 
net machine-on => gladevcp.preset-speeds

# **** Setup of spindle speed display using glade -START ****
# **** Use ACTUAL spindle velocity from spindle encoder
# **** spindle-velocity is signed so we use absolute component to remove sign

net spindle-fb-rpm => abs.0.in
net spindle-fb-abs-rpm abs.0.out => gladevcp.spindle-rpm-hbar 

net spindle-fb-abs-rpm =>  gladevcp.spindle-speed
net spindle-cmd => gladevcp.spindle-commanded-speed

# **** set up spindle at speed indicator ****
net spindle-at-speed       => gladevcp.spindle-at-speed-led

# Link the gearchange to the pulley button
net gearchange-cmd <= gladevcp.high_speed_pulley => gearchange.0.sel

import os,sys
from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
import hal
import hal_glib
import gtk
import glib
import linuxcnc
import time

debug = 1
c = linuxcnc.command()
s = linuxcnc.stat()
config_ini_file = linuxcnc.ini(os.getenv("INI_FILE_NAME"))
axes = int(config_ini_file.find("TRAJ", "AXES") or 0)

def all_axes_homed():
    print "axes: %i" % axes
    axes_home= s.homed 
    print axes_home
    print axes_home.count(1)
    if axes_home.count(1) == axes:
        print ("All axes homed")
        return 1
    else:    
        print ("At least one axes is not homed")
        return 0

def ok_for_mdi():
    s.poll()
    print ("OK for MDI Mode")
    print ("estop: %i" % s.estop)
    print ("enabled: %i" % s.enabled)
    print ("interp_state: %i" % s.interp_state)
    return not s.estop and s.enabled and all_axes_homed() and (s.interp_state == linuxcnc.INTERP_IDLE)

def ok_for_manual():
    s.poll()
    print ("OK for Manual Mode")
    print ("estop: %i" % s.estop)
    print ("enabled: %i" % s.enabled)
    print ("interp_state: %i" % s.interp_state)
    print ("task_mode: %i" % s.task_mode)
    return not s.estop and s.enabled and (s.interp_state == linuxcnc.INTERP_IDLE) and (s.task_mode <> linuxcnc.MODE_AUTO)


class HandlerClass:
    '''
    class with gladevcp callback handlers
    '''
    S1 = 0
    S2 = 0
    S3 = 0        
    def on_pulley_toggled(self,widget,data=None):
        
        if widget.get_active():         
            self.builder.get_object('spindle-rpm-hbar').max = float(self.max_speed_high_gear)
        else:
            self.builder.get_object('spindle-rpm-hbar').max = float(self.max_speed_low_gear)
        self.builder.get_object('spindle-rpm-hbar').queue_draw()
        self.spindle_rpm_hbar_max = self.builder.get_object('spindle-rpm-hbar').max
        print "Toggle Pulley"        

    def on_stop_clicked(self,widget,data=None):
        c.spindle(0)
        print "Stop Clicked"
        
    def on_s1_clicked(self,widget,data=None):
        if ok_for_mdi():
            c.mode(linuxcnc.MODE_MDI)
            c.wait_complete() # wait until mode switch executed
            c.mdi("M3 S%d" % self.S1)
            print "S1: M3 S%d" % self.S1

    def on_s2_clicked(self,widget,data=None):
        if ok_for_mdi():
            c.mode(linuxcnc.MODE_MDI)
            c.wait_complete() # wait until mode switch executed
            c.mdi("M3 S%d" % self.S2)
            print "S2: M3 S%d" % self.S2

    def on_s3_clicked(self,widget,data=None):
        if ok_for_mdi():
            c.mode(linuxcnc.MODE_MDI)
            c.wait_complete() # wait until mode switch executed
            c.mdi("M3 S%d" % self.S3)
            print "S3: M3 S%d" % self.S3
    
    def on_destroy(self,obj,data=None):
        self.ini.save_state(self)
 
    def __init__(self, halcomp,builder,useropts):
        '''
        Handler classes are instantiated in the following state:
        - the widget tree is created, but not yet realized (no toplevel window.show() executed yet)
        - the halcomp HAL component is set up and the widhget tree's HAL pins have already been added to it
        - it is safe to add more hal pins because halcomp.ready() has not yet been called at this point.

        after all handlers are instantiated in command line and get_handlers() order, callbacks will be
        connected with connect_signals()/signal_autoconnect()

        The builder may be either of libglade or GtkBuilder type depending on the glade file format.
        '''

        self.halcomp = halcomp
        self.builder = builder
        self.useropts = useropts

        self.max_speed_high_gear = float(config_ini_file.find("SPINDLE", "MAX_RPM_HIGH") or 0.0)
        self.max_speed_low_gear = float(config_ini_file.find("SPINDLE", "MAX_RPM_LOW") or 0.0)
        self.S1 = float(config_ini_file.find("SPINDLE", "S1") or 100.0)
        self.S2 = float(config_ini_file.find("SPINDLE", "S2") or 1000.0)
        self.S3 = float(config_ini_file.find("SPINDLE", "S3") or 2800.0)
        spindle_S1=self.builder.get_object('hal_spindle_s1')
        spindle_S2=self.builder.get_object('hal_spindle_s2')
        spindle_S3=self.builder.get_object('hal_spindle_s3')
        spindle_S1.set_label("%d RPM" % self.S1)
        spindle_S2.set_label("%d RPM" % self.S2)
        spindle_S3.set_label("%d RPM" % self.S3)


        print "High Gear: %d" % self.max_speed_high_gear
        print "Low Gear: %d" % self.max_speed_low_gear
  
        self.defaults = {
            IniFile.vars : { 'spindle_rpm_hbar_max' : self.max_speed_high_gear},
            IniFile.widgets: widget_defaults(select_widgets(self.builder.get_objects(), hal_only=True,output_only = True))
        }
        self.ini_filename = __name__ + ".ini"
        print "Ini File Name: %s" % self.ini_filename        
        self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
        self.ini.restore_state(self)
        self.builder.get_object('spindle-rpm-hbar').max= float(self.spindle_rpm_hbar_max)
        self.builder.get_object('spindle-rpm-hbar').queue_draw()
 
def get_handlers(halcomp,builder,useropts):
    '''
    this function is called by gladevcp at import time (when this module is passed with '-u <modname>.py')

    return a list of object instances whose methods should be connected as callback handlers
    any method whose name does not begin with an underscore ('_') is a  callback candidate

    the 'get_handlers' name is reserved - gladevcp expects it, so do not change
    '''
    return [HandlerClass(halcomp,builder,useropts)]