realtime independent motor control with linuxcnc

Tommylight -

Thanks for pointing out not to disconnect the motor in any way when the drive is energized. It occurred to me later but I forgot to correct the post. We want to keep all of the magic smoke inside the drive and not let it out.

Hi, Badger, I successfully produced dxf files for Gcodetools to create G-codes, thanks so much!

out of curiosity, what does regex("G01 A","G00 A") exactly mean?
I tried to google it but I didn't find detailed information, I know A means A axis, G0 is rapid mode, G1 is linear move,
may be the code means to make A axis's feed rate the same as G0 and G1?

This one is a bit odd. In my case I use the A axis to rotate my tool, the rugbot, to keep it tangent to the direction of travel. I don't think you can set a maximum feed rate for the A axis separately from the other axis. So my feed rate is 960 millimeters per minute, and LCNC seems to handle rotation in degrees per minute, so that means that my A axis can only turn at 2.6 RPM. When it is actually moving along a segment it seems to ignore this fact and the A axis rotation will track the XY movement even in a wicked fast tight spiral, which is great. But at some points in the gcode generated by gcodetools I have A axis only moves such as turning a corner between straight lines, in which case LCNC uses the 960 degrees per minute rate associated with a G1 move. This is very slow and annoying. What regex("G01 A","G00 A") does is that when gcodetools is actually writing the gcode, it looks for all of those individual slow G01 moves and rewrites them as G00 moves where I have the maximum velocity for the A axis set for wicked fast. This greatly speeds up the process and makes me less cranky, sometimes.