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[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2554
ENCODER_SCALE = 1024
OUTPUT_SCALE = 2554
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2600

# Axis: SPINDLE Joint: 5 Output: 5

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable   <=>  pid.s.index-enable
net spindle-enable          =>  pid.s.enable
net spindle-vel-cmd-rpm-abs     =>  pid.s.command
net spindle-vel-fb-rpm      =>  pid.s.feedback
net spindle-output          <=  pid.s.output

# ---PWM Generator signals/setup---

setp   hm2_[MESA](BOARD).0.pwmgen.05.scale  [SPINDLE_0]OUTPUT_SCALE
setp   hm2_[MESA](BOARD).0.pwmgen.05.output-type 1
setp   hm2_[MESA](BOARD).0.pwmgen.05.offset-mode 1

# ---Encoder feedback signals/setup---

setp    encoder.3.position-scale  [SPINDLE_0]ENCODER_SCALE
setp    encoder.3.counter-mode    true

net spindle-position        encoder.3.position      =>      spindle.0.revs
#net spindle-velocity        encoder.3.velocity      =>      spindle.0.speed-in

setp scale.0.gain 60
setp lowpass.0.gain 1.2

net spindle-velocity-rps                        encoder.3.velocity => scale.0.in
net spindle-velocity-rpm                        scale.0.out => abs.0.in
net spindle-velocity-rpm-abs                    abs.0.out => lowpass.0.in
net spindle-velocity-rpm-abs-filtered           lowpass.0.out 

net spindle-index-enable    encoder.3.index-enable  <=>     spindle.0.index-enable

net spindle-phase-a     encoder.3.phase-A <= hm2_7i97.0.7i84.0.0.input-28
net spindle-phase-b     encoder.3.phase-B
net spindle-index       encoder.3.phase-Z <= hm2_7i97.0.7i84.0.0.input-30

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-at-speed           =>  spindle.0.at-speed


# ---Setup spindle at speed signal

net spindle-cw              => hm2_7i97.0.7i84.0.0.output-05
net spindle-ccw             => hm2_7i97.0.7i84.0.0.output-06
net spindle-output          => hm2_7i97.0.pwmgen.05.value
net spindle-enable          => hm2_7i97.0.pwmgen.05.enable

Traceback (most recent call last):File "/usr/lib/python3/dist-packages/OpenGL/latebind.py", line 43, in __call__return self._finalCall( *args, **named )^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^TypeError: 'NoneType' object is not callable During handling of the above exception, another exception occurred: Traceback (most recent call last):File "/usr/lib/python3/dist-packages/qtvcp/lib/qt_vismach/qt_vismach.py", line 255, in paintGLself.drawObjects()File "/usr/lib/python3/dist-packages/qtvcp/lib/qt_vismach/qt_vismach.py", line 325, in drawObjectsself.hud.draw()File "/usr/lib/python3/dist-packages/qtvcp/lib/qt_vismach/primitives.py", line 898, in drawself.fontbase, self._width, linespace = use_pango_font(self._font, 0, 128)^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^File "/usr/lib/python3/dist-packages/qtvcp/lib/qt_vismach/primitives.py", line 66, in use_pango_fontGL.glBitmap(1, 0, 0, 0, 0, h-d, bytearray([0]*4))File "/usr/lib/python3/dist-packages/OpenGL/latebind.py", line 47, in __call__return self._finalCall( *args, **named )^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^File "/usr/lib/python3/dist-packages/OpenGL/wrapper.py", line 700, in wrapperCallraise errFile "/usr/lib/python3/dist-packages/OpenGL/wrapper.py", line 693, in wrapperCallresult = wrappedOperation( *cArguments )^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^File "/usr/lib/python3/dist-packages/OpenGL/platform/baseplatform.py", line 415, in __call__return self( *args, **named )^^^^^^^^^^^^^^^^^^^^^^File "/usr/lib/python3/dist-packages/OpenGL/error.py", line 230, in glCheckErrorraise self._errorClass(OpenGL.error.GLError: GLError(err = 1285,description = b'out of memory',baseOperation = glBitmap,pyArgs = (1,0,0,0,0,23.0,<OpenGL.arrays._buffers.Py_buffer object at 0x7fb250c629f0>,),cArgs = (1,0,0,0,0,23.0,<OpenGL.arrays._buffers.Py_buffer object at 0x7fb250c629f0>,),cArguments = (1,0,0,0,0,23.0,<OpenGL.arrays._buffers.Py_buffer object at 0x7fb250c629f0>,)) 

#!/usr/bin/env python3
import os
import hal
import linuxcnc

h = hal.component("py2bash")
h.newpin("run-script", hal.HAL_BIT, hal.HAL_IN)
h.ready()
# create a connection to the status channel
s = linuxcnc.stat()

print("py2bash: Started")

script_has_run = False

try:
    while 1:
        if h['run-script'] == True and script_has_run == False:
            print("py2bash: Running bash script now.")
            os.system('bash ./script.sh')
            script_has_run = True
except KeyboardInterrupt:
    raise SystemExit

#!/bin/bash
halcmd loadusr -W hal_input -K +Keyboard:0
halcmd source myhal.hal
exit 0

HALCMD = loadusr -W ./python/py2bash.py