Working XYZA positional 4th axis system: how to modify to make A a velocity axis

can you make a example on how this woudt work
switching by button between A RotaTION axis
and A Spindel

andypugh wrote:

I will also add that, personally, I don't really like linking and unlinking pins in HAL to switch between modes. I much prefer the approach of switching between two separate PID controllers in the HAL layer.

I didn't care for the idea either, considering it akin to "poking false memories into linuxcnc's living, real-time brain" and thus a kind of ad hoc brain surgery, but this approach had the advantage, slim though it was, that I could follow it, if just barely.

"PID controllers in the HAL layer" adds one abstraction level too many for me.

I redd everything I found about HAL, and kept the references open while experimenting, but still just-don't-grasp.

I need a coloring-book version.

And like the 16-colors-in-a-box type.