Added linuxcnc test config before video release

linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal

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+# core HAL config file for servos
+
+# first load the core RT modules that will be needed
+# kinematics
+loadrt [KINS]KINEMATICS
+# motion controller, get name and thread periods from INI file
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# PID module, for three PID loops
+loadrt pid num_chan=3
+
+# hook functions to realtime thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf pid.0.do-pid-calcs servo-thread
+addf pid.1.do-pid-calcs servo-thread
+addf pid.2.do-pid-calcs servo-thread
+
+# connect position feedback
+net Xpos-fb joint.0.motor-pos-fb => pid.0.feedback
+net Ypos-fb joint.1.motor-pos-fb => pid.1.feedback
+net Zpos-fb joint.2.motor-pos-fb => pid.2.feedback
+
+# create PID to DAC output signals
+net Xoutput <= pid.0.output
+net Youtput <= pid.1.output
+net Zoutput <= pid.2.output
+
+# set PID loop output limits to +/-1.00
+setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
+setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
+setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
+
+# set PID loop gains from INI file
+
+# the values below come from the INI
+setp pid.0.Pgain [JOINT_0]P
+setp pid.0.Igain [JOINT_0]I
+setp pid.0.Dgain [JOINT_0]D
+setp pid.0.bias [JOINT_0]BIAS
+setp pid.0.FF0 [JOINT_0]FF0
+setp pid.0.FF1 [JOINT_0]FF1
+setp pid.0.FF2 [JOINT_0]FF2
+# deadband should be just over 1 count
+setp pid.0.deadband [JOINT_0]DEADBAND
+
+setp pid.1.Pgain [JOINT_1]P
+setp pid.1.Igain [JOINT_1]I
+setp pid.1.Dgain [JOINT_1]D
+setp pid.1.bias [JOINT_1]BIAS
+setp pid.1.FF0 [JOINT_1]FF0
+setp pid.1.FF1 [JOINT_1]FF1
+setp pid.1.FF2 [JOINT_1]FF2
+# deadband should be just over 1 count
+setp pid.1.deadband [JOINT_1]DEADBAND
+
+setp pid.2.Pgain [JOINT_2]P
+setp pid.2.Igain [JOINT_2]I
+setp pid.2.Dgain [JOINT_2]D
+setp pid.2.bias [JOINT_2]BIAS
+setp pid.2.FF0 [JOINT_2]FF0
+setp pid.2.FF1 [JOINT_2]FF1
+setp pid.2.FF2 [JOINT_2]FF2
+# deadband should be just over 1 count
+setp pid.2.deadband [JOINT_2]DEADBAND
+
+# position command signals
+net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
+net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
+net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
+
+# joint enable signals
+net Xenable joint.0.amp-enable-out => pid.0.enable
+net Yenable joint.1.amp-enable-out => pid.1.enable
+net Zenable joint.2.amp-enable-out => pid.2.enable