Toolchanger HAL Component project

removed watchdog timers form execution blocks as they were superfolous, streamlining the logic of the blocks a lot, removed excess variables and bits etc to simply the logic. working on duplicating the logic for all 10 blocks now. figured out how to enable and disable the carousel with caveman logic. added some checks and changes some arguments. Cleaned up and streamlined the logic. file is truncated to 2 ready to start testing blocks, need to finish the other 8. 

I am in the redesign stage, and I am actually considering standing up a small TI Dev MCU with a c++ code base that will talk to hal over serial. But it's one of many design paths I am considering, offloading the toolchanger to a micro controller using the TI RTOS on a dedicate card would solve a lot of the code complexity issues with trying to build this in a hal component.

I am open to all kinds of ideas, but this one may be the best long term.

Just stumbled on this thread. About 90% of what you've written is over my head, but it sounds interesting.

I've got a home-made ATC I'm trying to get working and appear to be on the home stretch.  What problems have you had converting your toolchanger to LCNC that would prompt you to dive in the deep end of creating what sounds like a complicated solution?

You mentioned wanting some input or feedback?

 

I've already written a tool changer component for my lathe, i am trying to create a universal toolchanger system inside of hal as a component orrr it may be easier to do outside of hal and Linux cnc as a stand alone device.

i have 3 mills to retrofit right now, they all have the same tool changer, i can easily build the hal component for my situation out of code I've already written and debugged.
.the issue is how to reduce the pain for myself and anyone else trying to do this, and make it universal in design.

there needs to be a better alternative than plc, gcode remapping etc

I'm also generally thinking about porting the core Linuxcnc software to a c++ library, that can be compiled anywhere..

that's another discussion for another day