LED panel light for probe

# Generated by stepconf 1.1 at Fri Jan 29 10:55:56 2021
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out 1 out"
loadrt stepgen step_type=0,0,0
loadrt pwmgen output_type=1
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10

addf parport.0.read base-thread
addf parport.1.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.1.write base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf classicladder.0.refresh servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread

net spindle-cmd-rpm => pwmgen.0.value
net spindle-on <= spindle.0.on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 24000.0
setp pwmgen.0.offset 0.0
setp pwmgen.0.dither-pwm true
net spindle-cmd-rpm     <= spindle.0.speed-out
net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-cmd-rps     <= spindle.0.speed-out-rps
net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-at-speed    => spindle.0.at-speed

net probe-in => motion.probe-input


setp parport.0.pin-01-out-invert 1
net spindle-pwm     => parport.0.pin-01-out
setp parport.0.pin-02-out-invert 1
net xstep           => parport.0.pin-02-out
net xdir            => parport.0.pin-03-out
setp parport.0.pin-04-out-invert 1
net ystep           => parport.0.pin-04-out
net ydir            => parport.0.pin-05-out
setp parport.0.pin-06-out-invert 1
net zstep           => parport.0.pin-06-out
net zdir            => parport.0.pin-07-out
net astep           => parport.0.pin-08-out
net adir            => parport.0.pin-09-out
net xenable         => parport.0.pin-14-out
net spindle-on      => parport.0.pin-17-out
setp parport.1.pin-14-out-invert 1
net flood <= iocontrol.0.coolant-flood => parport.1.pin-14-out


net estop-ext       <= parport.0.pin-10-in
net home-x          <= parport.1.pin-10-in
net home-y          <= parport.1.pin-11-in
net home-z          <= parport.1.pin-12-in
net probe-in	    <= parport.1.pin-13-in-not




setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 5000
setp stepgen.0.stepspace 5000
setp stepgen.0.dirhold 20000
setp stepgen.0.dirsetup 20000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net home-x => joint.0.home-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 5000
setp stepgen.1.stepspace 5000
setp stepgen.1.dirhold 20000
setp stepgen.1.dirsetup 20000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net home-y => joint.1.home-sw-in

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 5000
setp stepgen.2.stepspace 5000
setp stepgen.2.dirhold 20000
setp stepgen.2.dirsetup 20000
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net home-z => joint.2.home-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui custom.clp

<?xml version="1.0"?>
<interface>
  <requires lib="gtk+" version="2.16"/>
  <!-- interface-requires gladevcp 0.0 -->
  <!-- interface-naming-policy project-wide -->
  <object class="GtkWindow" id="window1">
    <child>
      <object class="GtkFrame" id="frm_tool_sensor">
        <property name="visible">True</property>
        <property name="label_xalign">0.5</property>
        <child>
          <object class="GtkAlignment" id="ali_tool_sensor">
            <property name="visible">True</property>
            <property name="top_padding">5</property>
            <property name="bottom_padding">5</property>
            <property name="left_padding">5</property>
            <property name="right_padding">5</property>
            <child>
              <object class="GtkVBox" id="vbox_tool_sensor">
                <property name="visible">True</property>
                <child>
                  <object class="GtkHBox" id="hbox_tool_sensor">
                    <property name="visible">True</property>
                    <child>
                      <object class="GtkLabel" id="lbl_tool_sensor">
                        <property name="visible">True</property>
                        <property name="label" translatable="yes">Probe:</property>
                      </object>
                      <packing>
                        <property name="expand">False</property>
                        <property name="fill">False</property>
                        <property name="position">0</property>
                      </packing>
                    </child>
                    <child>
                      <object class="HAL_LED" id="led_tool_sensor">
                        <property name="visible">True</property>
                        <property name="pick_color_on">#0000ffff0000</property>
                        <property name="pick_color_off">#ffff00000000</property>
                      </object>
                      <packing>
                        <property name="position">1</property>
                      </packing>
                    </child>
                  </object>
                  <packing>
                    <property name="expand">False</property>
                    <property name="fill">False</property>
                    <property name="position">0</property>
                  </packing>
                </child>
              </object>
            </child>
          </object>
        </child>
        <child type="label">
          <object class="GtkLabel" id="lbl_frm_tool_sensor">
            <property name="visible">True</property>
            <property name="label" translatable="yes">&lt;b&gt;Tool Probe&lt;/b&gt;</property>
            <property name="use_markup">True</property>
          </object>
        </child>
      </object>
    </child>
  </object>
</interface>

# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE =               6040 Tool sensor
DEBUG =               0


# for details see nc_files/subroutines/maco_instructions.txt
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

# Sections for display options ------------------------------------------------
[DISPLAY]
DISPLAY = gmoccapy
# We do explicit give an preference file here, because otherwise 
# the sim may not work on other computers. That is also the reason
# we use the prefix para, so it will not be ignored from git
PREFERENCE_FILE_PATH = gmoccapy_tool_sensor.para

EMBED_TAB_NAME = Tool Sensor
EMBED_TAB_LOCATION = box_right
EMBED_TAB_COMMAND = gladevcp -x {XID} tool_sensor.glade

EMBED_TAB_NAME = Part Probe
EMBED_TAB_LOCATION = ntb_preview
EMBED_TAB_COMMAND = gladevcp -x {XID} gmoccapy2.glade

# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME =            100

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5
MAX_SPINDLE_OVERRIDE =  1.2
MIN_SPINDLE_OVERRIDE =  0.5

# Prefix to be used
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

# list of selectable jog increments
INCREMENTS = 1.0 mm, 0.1 mm, 0.01 mm, 0.001 mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

# Task controller section -----------------------------------------------------
[RS274NGC]

PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros

# optional features - a bit mask to selectively turn on experimental/dubious features
# see 
# RETAIN_G43           0x00000001
# OWORD_N_ARGS         0x00000002
# INI_VARS             0x00000004
# HAL_PIN_VARS         0x00000008
# NO_DOWNCASE_OWORD    0x00000010
# turn on all optional features

# turn on optional features in this case just INI reading 
FEATURES=12

ON_ABORT_COMMAND=O <on_abort> call 

# parameters exposed by change_prolog/evaluated by change_epilog:
#    #<tool_in_spindle>
#    #<selected_tool>
#    #<current_pocket>
#    #<selected_pocket>
REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

# accessible in interp as #<_[section]name>
# start of tool length touchoff probe
[EMCMOT]
EMCMOT =              motmod
COMM_TIMEOUT =          1.0
BASE_PERIOD  =          35000
SERVO_PERIOD =          1000000

# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK =                  milltask
CYCLE_TIME =            0.001

# Part program interpreter section --------------------------------------------
[HAL]

HALFILE = 6040_Tool_sensor.hal
HALFILE = tool-sensor.hal

# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content

[TRAJ]
COORDINATES =      X Y Z 
LINEAR_UNITS =     mm
ANGULAR_UNITS =    degree
DEFAULT_LINEAR_VELOCITY = 29.0
MAX_LINEAR_VELOCITY = 29.0
POSITION_FILE =    position.txt


[EMCIO]
EMCIO = 		io
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE = tool.tbl

[KINS]
KINEMATICS = trivkins coordinates=xyz
JOINTS = 3

[AXIS_X]
MAX_VELOCITY = 31
MAX_ACCELERATION = 220.0
MIN_LIMIT = -0.1
MAX_LIMIT = 370.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.1
MAX_LIMIT = 370.0
MAX_VELOCITY = 31
MAX_ACCELERATION = 220.0
STEPGEN_MAXACCEL = 500
SCALE = 319
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = -2
HOME_SEARCH_VEL = 31
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 1

[AXIS_Y]
MAX_VELOCITY = 31
MAX_ACCELERATION = 220.0
MIN_LIMIT = -580		
MAX_LIMIT = 1

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -580
MAX_LIMIT = 1
MAX_VELOCITY = 31
MAX_ACCELERATION = 220.0
STEPGEN_MAXACCEL = 500
SCALE = 320
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 2
HOME_SEARCH_VEL = -31
HOME_LATCH_VEL = 5.500000
HOME_SEQUENCE = 2

[AXIS_Z]
MAX_VELOCITY = 15
MAX_ACCELERATION = 200.0
MIN_LIMIT = -120.0
MAX_LIMIT = 0.001

[JOINT_2]
TYPE = LINEAR
HOME = 0
MIN_LIMIT = -120.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 15
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 500
SCALE = 400
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 2
HOME_SEARCH_VEL = -29
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 0

# section for main IO controller parameters -----------------------------------
[TOOLSENSOR]
X = 22
Y = -517  
Z = -80
# abort change if no toolsensor contact after this probe distance
MAXPROBE =  -11

# this is not named TOOL_CHANGE_POSITION  on purpose - canon uses it and will
# interfere
[CHANGE_POSITION]
X = 22
Y = -517
Z = 0

# the Python plugins serves interpreter and task
[PYTHON]
PATH_PREPEND = python
TOPLEVEL = python/toplevel.py
LOG_LEVEL = 8

# Motion control section ------------------------------------------------------

net tool_sensor tool_sensor.btn_tool_sensor_sim 
net tool_sensor motion.probe-input 
net tool_sensor tool_sensor.led_tool_sensor