Added linuxcnc test config before video release
This commit is contained in:
Hakan Bastedt
594
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl
Executable file
594
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl
Executable file
@@ -0,0 +1,594 @@
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# xhc-hb04.tcl: HALFILE for xhc-hb04 pendant
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# library procs:
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source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
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source [file join $::env(HALLIB_DIR) util_lib.tcl]
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# Usage:
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# In INI file, include:
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# [HAL]
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# HALFILE = existing halfiles
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# ...
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# HALFILE = xhc-hb04.tcl
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#
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# [XHC_HB04_CONFIG]
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# layout = 2 (required: 1|2 are supported)
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# coords = x y z a (up to 4 unique letters from x y z a b c u v w)
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# coefs = 1 1 1 1 (optional, filter coefs, 0 < coef < 1, not usually reqd)
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# scales = 1 1 1 1 (optional)
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# mpg_accels = 50 75 30 75 (optional, less than axis max accel)
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# threadname = servo-thread (optional)
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# sequence = 1 (optional: 1|2)
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# jogmode = normal (optional: normal|vnormal)
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# require_pendant = yes (optional: yes|no)
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# inch_or_mm = in (optional: in|mm, default is mm)
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# [XHC_HB04_BUTTONS]
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# name = pin (connect button to hal pin)
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# name = "" (no connect button)
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# special cases:
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# start-pause = std_start_pause (for usual behavior)
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# step = xhc-hb04.stepsize-up (for usual behavior)
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# (see INI files for more exanples)
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# Notes:
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# 1) the 'start-pause' pin can be set to "std_start_pause" to
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# implement default behavior
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# 2) the 'step' pin is normally connected to xhc-hb04.stepsize-up
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# 3) non-root access to the usb device requires an additional
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# udev rule. Typically, create /etc/udev/rules.d/90-xhc.rules:
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# SYSFS{idProduct}=="eb70", SYSFS{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
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# or (for ubuntu12 and up):
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# ATTR{idProduct}=="eb70", ATTR{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
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# 4) For jogmode==vnormal (man motion -- see joint.N.jog-vel-mode),
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# the max movement is limited by the machine velocity and acceleration limits
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# such that delta_x = 0.5 * vmax**2/accelmx
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# so for sim example:
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# inch: vmax= 1.2 accelmax= 20 delta_x=0.036
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# mm: vmax=30.48 acclemax=508 delta_x=0.9144
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# Typically:
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# (-s1) sequence 1 (1,10,100,1000) is ok for mm-based machines
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# (-s2) sequence 2 (1,5,10,20) is ok for inch-based machines
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#
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# 5) updated for joints_axes: support only configs with known kins
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# and they must be KINEMATICS_IDENTITY (trivkins)
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# a) connect axis.L.jog-counts to joint.N.jog-counts
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# axis.L.jog-scale to joint.L.jog-scale
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# c) use [AXIS_N]MAX_ACCELERATION for both axis.L, joint.N
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#-----------------------------------------------------------------------
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# Copyright: 2014-16
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# Author: Dewey Garrett <dgarrett@panix.com>
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program; if not, write to the Free Software
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# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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#-----------------------------------------------------------------------
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proc is_uniq {list_name} {
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set tmp(xxxxxxxx) "" ;# make an array first
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foreach item $list_name {
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if {[array names tmp $item] == $item} {
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return 0 ;# not unique
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}
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set tmp($item) $item
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}
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return 1 ;# unique
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} ;# is_uniq
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proc connect_pins {} {
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foreach bname [lsort [array names ::XHC_HB04_BUTTONS]] {
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set thepin $::XHC_HB04_BUTTONS($bname)
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set thepin [lindex $thepin 0]
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if {"$thepin" == "\"\""} {
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#puts stderr "$::progname: no pin defined for <$bname>"
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continue
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}
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# this pin is can specify std behavior
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if { ([string tolower $bname] == "start-pause")
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&& ([string tolower $thepin] == "std_start_pause")
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} {
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std_start_pause_button
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puts stderr "$::progname: using std_start_pause_button"
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continue
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}
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# these are warnings in the INI file examples but aren't real pins
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if {[string tolower "$thepin"] == "caution"} {
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puts stderr "$::progname: skipping button $bname marked <$thepin>"
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continue
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}
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set fullbname xhc-hb04.button-$bname
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if !$::xhc_hb04_quiet {
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if ![pin_exists $fullbname] {
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puts stderr "$::progname: !!! <$fullbname> pin does not exist, continuing"
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continue
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}
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if ![pin_exists $thepin] {
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puts stderr "$::progname: !!! <$thepin> target pin does not exist, continuing"
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continue
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}
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}
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makenet pendant:$bname <= $fullbname => $thepin
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}
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} ;# connect_pins
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proc wheel_setup {jogmode} {
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if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
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set idx 0
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foreach g $::XHC_HB04_CONFIG(mpg_accels) {
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set g1 $g
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if {$g < 0} {
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set g [expr -1 * $g]
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puts stderr "$::progname: mpg_accel #$idx must be positive was:$g1, is:$g"
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}
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set ::XHC_HB04_CONFIG(accel,$idx) [format %f $g] ;# ensure floatingpt
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incr idx
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}
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}
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# defaults if not in INI file:
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set ::XHC_HB04_CONFIG(coef,0) 1.0
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set ::XHC_HB04_CONFIG(coef,1) 1.0
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set ::XHC_HB04_CONFIG(coef,2) 1.0
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set ::XHC_HB04_CONFIG(coef,3) 1.0
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if [info exists ::XHC_HB04_CONFIG(coefs)] {
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set idx 0
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foreach g $::XHC_HB04_CONFIG(coefs) {
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set g1 $g
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if {$g < 0} {
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set g [expr -1 * $g]
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puts stderr "$::progname: coef #$idx must be positive was:$g1, is:$g"
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}
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if {$g > 1} {
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set g .5
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puts stderr "$::progname: coef #$idx must < 1 coef was:$g1, is:$g"
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}
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set ::XHC_HB04_CONFIG(coef,$idx) $g
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incr idx
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}
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}
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# defaults if not in INI file:
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set ::XHC_HB04_CONFIG(scale,0) 1.0
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set ::XHC_HB04_CONFIG(scale,1) 1.0
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set ::XHC_HB04_CONFIG(scale,2) 1.0
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set ::XHC_HB04_CONFIG(scale,3) 1.0
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if [info exists ::XHC_HB04_CONFIG(scales)] {
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set idx 0
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foreach g $::XHC_HB04_CONFIG(scales) {
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set ::XHC_HB04_CONFIG(scale,$idx) $g
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incr idx
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}
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}
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# to support fractional scales:
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# divide the xhc-hb04.jog.scale by $kvalue
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# and
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# multiply the pendant_util.scale$idx by $kvalue
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# to manipulate the integer (s32) joint.N.jog-counts
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set kvalue 100.0; # allow fractional scales (.1, .01)
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# Note: larger values not advised as the
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# jog-counts are type s32 (~ +/-2e9)
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setp pendant_util.k $kvalue
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makenet pendant:jog-prescale <= xhc-hb04.jog.scale
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makenet pendant:jog-prescale => pendant_util.divide-by-k-in
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makenet pendant:jog-scale <= pendant_util.divide-by-k-out
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# pendant:jog-scale connects to each:
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# and axis.$coord.jog-scale
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# joint.$jnum.jog-scale (if applicable)
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makenet pendant:wheel-counts <= xhc-hb04.jog.counts
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makenet pendant:wheel-counts-neg <= xhc-hb04.jog.counts-neg
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set anames {x y z a}
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set available_idx {0 1 2 3}
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# The pendant has fixed labels and displays for letters: x y z a
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# and xhc-hb04.cc hardcodes pin names for these letters: x y z a
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# Herein: Use label corresponding to coord if possible.
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# Otherwise, use next available label. When this occurs,
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# pin names will be a little confusing but the signal names will
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# align correctly.
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#
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# With this method, any coord (xyzabcuvw) can be controlled by
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# the wheel (providing it exists)
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#
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set unassigned_coords {}
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foreach coord $::XHC_HB04_CONFIG(coords) {
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set i [lsearch $anames $coord]
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if {$i >= 0} {
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set i [lsearch $available_idx $i]
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# use idx corresponding to coord
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set use_idx($coord) [lindex $available_idx $i]
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set available_idx [lreplace $available_idx $i $i]
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} else {
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lappend unassigned_coords $coord
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}
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}
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foreach coord $unassigned_coords {
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# use next available_idx
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set use_idx($coord) [lindex $available_idx 0]
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set available_idx [lreplace $available_idx 0 0]
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}
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set mapmsg ""
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foreach coord $::XHC_HB04_CONFIG(coords) {
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if [catch {set jnum [joint_number_for_axis $coord]} msg] {
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puts stderr "$::progname: $msg"
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set has_jnum 0
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} else {
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set has_jnum 1
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}
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set use_lbl($coord) [lindex $anames $use_idx($coord)]
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set idx $use_idx($coord)
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if {"$use_lbl($coord)" != "$coord"} {
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set mapmsg "$mapmsg\
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coord: $coord is mapped to pendant switch/display:\
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$use_lbl($coord) index: $idx\n"
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}
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setp pendant_util.coef$idx $::XHC_HB04_CONFIG(coef,$idx)
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setp pendant_util.scale$idx [expr $kvalue * $::XHC_HB04_CONFIG(scale,$idx)]
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set acoord [lindex $anames $idx]
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# accommodate existing signames for halui outpins:
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makenet [existing_outpin_signame halui.axis.$coord.pos-feedback pendant:pos-$coord] \
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<= halui.axis.$coord.pos-feedback \
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=> xhc-hb04.$acoord.pos-absolute
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makenet [existing_outpin_signame halui.axis.$coord.pos-relative pendant:pos-rel-$coord] \
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<= halui.axis.$coord.pos-relative \
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=> xhc-hb04.$acoord.pos-relative
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makenet pendant:jog-scale => axis.$coord.jog-scale
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makenet pendant:wheel-counts => pendant_util.in$idx
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makenet pendant:wheel-counts-$coord-filtered <= pendant_util.out$idx \
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=> axis.$coord.jog-counts
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set COORD [string toupper $coord]
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makenet pendant:jog-$coord <= xhc-hb04.jog.enable-$acoord \
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=> axis.$coord.jog-enable
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switch $jogmode {
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vnormal {
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setp axis.$coord.jog-vel-mode 1
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}
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}
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set afraction 1.0 ;# default
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# Only calculate an afraction IF we have specified mpg_accels in the INI file
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if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
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if [catch {
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set afraction [expr $::XHC_HB04_CONFIG(accel,$idx)\
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/[set ::AXIS_[set COORD](MAX_ACCELERATION)] ]
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} msg] {
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err_exit "<$msg>\n\nMissing INI setting: \[AXIS_$COORD\]MAX_ACCELERATION"
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}
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}
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setp axis.$coord.jog-accel-fraction $afraction
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# connect for joint pins if known (trivkins)
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if $has_jnum {
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if ![pin_exists joint.$jnum.jog-scale] {
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err_exit "Not configured for coords = $::XHC_HB04_CONFIG(coords),\
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missing joint.$jnum.* pins"
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}
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makenet pendant:jog-scale => joint.$jnum.jog-scale
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makenet pendant:wheel-counts-$coord-filtered => joint.$jnum.jog-counts
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if [catch {set std_accel [set ::JOINT_[set jnum](MAX_ACCELERATION)]} msg] {
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err_exit "Error: missing \[JOINT_[set jnum]\]MAX_ACCELERATION"
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}
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if { [set ::JOINT_[set jnum](MAX_ACCELERATION)]
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!= [set ::AXIS_[set COORD](MAX_ACCELERATION)] } {
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puts stderr "$::progname: Warning accel values differ:"
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puts stderr " \[JOINT_[set jnum]\]MAX_ACCELERATION=[set ::JOINT_[set jnum](MAX_ACCELERATION)]"
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puts stderr " \[AXIS_[set COORD]\]MAX_ACCELERATION=[set ::AXIS_[set COORD](MAX_ACCELERATION)]"
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}
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makenet pendant:jog-$coord => joint.$jnum.jog-enable
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set jfraction 1.0 ;# default
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if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
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if [catch {
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set jfraction [expr $::XHC_HB04_CONFIG(accel,$idx)\
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/[set ::JOINT_[set jnum](MAX_ACCELERATION)] ]
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} msg] {
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err_exit "<$msg>\n\nMissing INI setting: \[JOINT_$jnum\]MAX_ACCELERATION"
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}
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}
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setp joint.$jnum.jog-accel-fraction $jfraction
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switch $jogmode {
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vnormal {
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setp joint.$jnum.jog-vel-mode 1
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}
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}
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}
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} ;# for coord
|
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if {"$mapmsg" != ""} {
|
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puts "\n$::progname:\n$mapmsg"
|
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}
|
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|
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setp halui.feed-override.scale 0.01
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makenet pendant:wheel-counts => halui.feed-override.counts
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setp halui.spindle.0.override.scale 0.01
|
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makenet pendant:wheel-counts => halui.spindle.0.override.counts
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makenet pendant:feed-override-enable => halui.feed-override.count-enable \
|
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<= xhc-hb04.jog.enable-feed-override
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makenet pendant:spindle-override-enable => halui.spindle.0.override.count-enable \
|
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<= xhc-hb04.jog.enable-spindle-override
|
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# accommodate existing signames for motion outpins
|
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makenet [existing_outpin_signame motion.current-vel pendant:feed-value] \
|
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<= motion.current-vel \
|
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=> xhc-hb04.feed-value
|
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|
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makenet [existing_outpin_signame spindle.0.speed-out-rps-abs pendant:spindle-rps] \
|
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<= spindle.0.speed-out-rps-abs \
|
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=> xhc-hb04.spindle-rps
|
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|
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# accommodate existing signames for halui outpins:
|
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makenet [existing_outpin_signame halui.max-velocity.value pendant:jog-speed] \
|
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<= halui.max-velocity.value
|
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|
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makenet [existing_outpin_signame halui.feed-overide.value pendant:feed-override] \
|
||||
<= halui.feed-override.value \
|
||||
=> xhc-hb04.feed-override
|
||||
|
||||
makenet [existing_outpin_signame halui.spindle.0.override.value pendant:spindle-override] \
|
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<= halui.spindle.0.override.value \
|
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=> xhc-hb04.spindle-override
|
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|
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} ;# wheel_setup
|
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|
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proc existing_outpin_signame {pinname newsigname} {
|
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# return existing outpin signame if it exists, else newsigname
|
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set answer [is_connected $pinname signame]
|
||||
switch $answer {
|
||||
not_connected {return $newsigname}
|
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is_output {puts "$::progname: Using existing outpin signame: $signame"
|
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return "$signame"
|
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}
|
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default {return -code error \
|
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"existing_outpin_signame:UNEXPECTED $answer"
|
||||
}
|
||||
}
|
||||
} ;# existing_outpin_signame
|
||||
|
||||
proc std_start_pause_button {} {
|
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# hardcoded setup for button-start-pause
|
||||
makenet pendant:start-or-pause <= xhc-hb04.button-start-pause \
|
||||
=> pendant_util.start-or-pause
|
||||
|
||||
makenet pendant:program-resume <= pendant_util.resume \
|
||||
=> halui.program.resume
|
||||
makenet pendant:program-pause <= pendant_util.pause \
|
||||
=> halui.program.pause
|
||||
makenet pendant:program-run <= pendant_util.run \
|
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=> halui.program.run \
|
||||
=> halui.mode.auto
|
||||
|
||||
# accommodate existing signames for halui outpins:
|
||||
makenet [existing_outpin_signame halui.program.is-idle pendant:is-idle] \
|
||||
<= halui.program.is-idle \
|
||||
=> pendant_util.is-idle
|
||||
|
||||
makenet [existing_outpin_signame halui.program.is-paused pendant:is-paused] \
|
||||
<= halui.program.is-paused \
|
||||
=> pendant_util.is-paused
|
||||
|
||||
makenet [existing_outpin_signame halui.program.is-running pendant:is-running] \
|
||||
<= halui.program.is-running \
|
||||
=> pendant_util.is-running
|
||||
} ;# std_start_pause_button
|
||||
|
||||
proc popup_msg {msg} {
|
||||
puts stderr "$msg"
|
||||
if [catch {package require Tk
|
||||
wm withdraw .
|
||||
tk_messageBox \
|
||||
-title "$::progname" \
|
||||
-type ok \
|
||||
-message "$msg"
|
||||
destroy .
|
||||
} msg] {
|
||||
puts stderr "$msg"
|
||||
}
|
||||
} ;# popup_msg
|
||||
|
||||
proc err_exit {msg} {
|
||||
popup_msg $msg
|
||||
puts stderr "\n$::progname: $msg\n"
|
||||
exit 1
|
||||
} ;# err_exit
|
||||
|
||||
proc makenet {args} {
|
||||
if [catch {eval net $args} msg] {
|
||||
if ![info exists ::makenet_msg] {
|
||||
set ::makenet_msg \
|
||||
"Failed to make some required connections"
|
||||
}
|
||||
set sig "Signal: <[lindex $args 0]>:"
|
||||
set ::makenet_msg "$::makenet_msg\n\n$sig\n$msg"
|
||||
}
|
||||
} ;# makenet
|
||||
|
||||
# begin------------------------------------------------------------------------
|
||||
set ::progname "xhc-hb04.tcl"
|
||||
|
||||
set ::xhc_hb04_quiet 0
|
||||
# ::tp is the namespace for [HAL]TWOPASS processing
|
||||
if { [namespace exists ::tp] && ([::tp::passnumber] == 0) } {
|
||||
set ::xhc_hb04_quiet 1
|
||||
puts "$::progname: suppressing messages in twopass pass0"
|
||||
}
|
||||
|
||||
set libtag "LIB:"
|
||||
set cfg ${libtag}xhc-hb04-layout2.cfg ;# default
|
||||
|
||||
if ![info exists ::HAL(HALUI)] {
|
||||
err_exit "\[HAL\]HALUI is not set"
|
||||
}
|
||||
if {[array names ::XHC_HB04_CONFIG] == ""} {
|
||||
err_exit "Missing stanza: \[XHC_HB04_CONFIG\]"
|
||||
}
|
||||
if {[array names ::XHC_HB04_BUTTONS] == ""} {
|
||||
err_exit "Missing stanza: \[XHC_HB04_BUTTONS\]"
|
||||
}
|
||||
|
||||
foreach name [array names ::XHC_HB04_CONFIG] {
|
||||
set ::XHC_HB04_CONFIG($name) [string trim $::XHC_HB04_CONFIG($name) "{}"]
|
||||
}
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(layout)] {
|
||||
switch ${::XHC_HB04_CONFIG(layout)} {
|
||||
1 {set cfg ${libtag}xhc-hb04-layout1.cfg}
|
||||
2 {set cfg ${libtag}xhc-hb04-layout2.cfg}
|
||||
default {
|
||||
set msg "Nonstandard layout:<$::XHC_HB04_CONFIG(layout)>"
|
||||
set cfg $::XHC_HB04_CONFIG(layout)
|
||||
set msg "$msg\ntrying: $cfg"
|
||||
popup_msg "$msg"
|
||||
# keep going
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# .cfg files use same search path as halfiles
|
||||
set cfg [find_file_in_hallib_path $cfg]
|
||||
|
||||
if ![file exists $cfg] {
|
||||
set msg "Cannot find file: <$cfg>\nCannot configure pendant\n"
|
||||
set msg "$msg\nContinuing without xhc-hb04"
|
||||
popup_msg "$msg"
|
||||
return ;# not an exit
|
||||
}
|
||||
|
||||
# handle keywords with either upper or lower case
|
||||
foreach name [array names ::XHC_HB04_CONFIG] {
|
||||
set lname [string tolower $name]
|
||||
set uname [string toupper $name]
|
||||
if ![info exists ::XHC_HB04_CONFIG($uname)] {
|
||||
continue
|
||||
} else {
|
||||
if { [info exists ::XHC_HB04_CONFIG($lname)]
|
||||
&& "$::XHC_HB04_CONFIG($lname)" != "$::XHC_HB04_CONFIG($uname)"} {
|
||||
puts "duplicated item: \[XHC_HB04_CONFIG\]$uname = $::XHC_HB04_CONFIG($uname)"
|
||||
puts "superseded with: \[XHC_HB04_CONFIG\]$lname = $::XHC_HB04_CONFIG($lname)"
|
||||
unset ::XHC_HB04_CONFIG($uname)
|
||||
}
|
||||
}
|
||||
}
|
||||
foreach name [array names ::XHC_HB04_BUTTONS] {
|
||||
set lname [string tolower $name]
|
||||
set uname [string toupper $name]
|
||||
if ![info exists ::XHC_HB04_BUTTONS($uname)] {
|
||||
continue
|
||||
} else {
|
||||
if { [info exists ::XHC_HB04_BUTTONS($lname)]
|
||||
&& "$::XHC_HB04_BUTTONS($lname)" != "$::XHC_HB04_BUTTONS($uname)"} {
|
||||
puts "duplicated item: \[XHC_HB04_BUTTONS\]$uname = $::XHC_HB04_BUTTONS($uname)"
|
||||
puts "superseded with: \[XHC_HB04_BUTTONS\]$lname = $::XHC_HB04_BUTTONS($lname)"
|
||||
unset ::XHC_HB04_BUTTONS($uname)
|
||||
}
|
||||
}
|
||||
}
|
||||
# require_pendant==yes: use -x, dont create pins unless connected
|
||||
# require_pendant==no: create pins if not connected
|
||||
if ![info exists ::XHC_HB04_CONFIG(require_pendant)] {
|
||||
set ::XHC_HB04_CONFIG(require_pendant) yes ;# default
|
||||
}
|
||||
set dashx -x
|
||||
switch $::XHC_HB04_CONFIG(require_pendant) {
|
||||
no {set dashx ""}
|
||||
}
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(sequence)] {
|
||||
set dashs "-s $::XHC_HB04_CONFIG(sequence)"
|
||||
} else {
|
||||
set dashs ""
|
||||
}
|
||||
|
||||
set cmd "loadusr -W xhc-hb04 $dashx $dashs -I $cfg -H"
|
||||
if [catch {eval $cmd} msg] {
|
||||
set msg "\n$::progname: loadusr xhc-hb04:\n<$msg>\n\n"
|
||||
set msg "$msg Is it plugged in?\n\n"
|
||||
set msg "$msg Are permissions correct?\n\n"
|
||||
set msg "$msg Continuing without xhc-hb04\n"
|
||||
set msg "$msg \nFailing cmd:\n$cmd"
|
||||
popup_msg "$msg"
|
||||
return ;# not an exit
|
||||
}
|
||||
|
||||
if ![info exists ::XHC_HB04_CONFIG(inch_or_mm)] {
|
||||
set ::XHC_HB04_CONFIG(inch_or_mm) mm
|
||||
}
|
||||
switch -glob $::XHC_HB04_CONFIG(inch_or_mm) {
|
||||
in* {setp xhc-hb04.inch-icon 1}
|
||||
default {}
|
||||
}
|
||||
|
||||
if ![info exists ::XHC_HB04_CONFIG(jogmode)] {
|
||||
set ::XHC_HB04_CONFIG(jogmode) normal ;# default
|
||||
}
|
||||
|
||||
set jogmode $::XHC_HB04_CONFIG(jogmode)
|
||||
switch $jogmode {
|
||||
normal {}
|
||||
vnormal {}
|
||||
default {
|
||||
set ::XHC_HB04_CONFIG(jogmode) normal
|
||||
set msg "Unkknown jogmode <$jogmode>"
|
||||
set msg "$msg Using $::XHC_HB04_CONFIG(jogmode)"
|
||||
popup_msg "$msg"
|
||||
}
|
||||
}
|
||||
|
||||
if [info exists ::XHC_HB04_CONFIG(coords)] {
|
||||
if ![is_uniq $::XHC_HB04_CONFIG(coords)] {
|
||||
err_exit "coords must be unique, not: <$::XHC_HB04_CONFIG(coords)>"
|
||||
}
|
||||
if {[llength $::XHC_HB04_CONFIG(coords)] > 4} {
|
||||
err_exit "max no.of coords is 4 <$::XHC_HB04_CONFIG(coords)>"
|
||||
}
|
||||
} else {
|
||||
set ::XHC_HB04_CONFIG(coords) {x y z a} ;# default
|
||||
}
|
||||
|
||||
if ![info exists ::XHC_HB04_CONFIG(threadname)] {
|
||||
set ::XHC_HB04_CONFIG(threadname) "servo-thread" ;# default
|
||||
}
|
||||
loadrt xhc_hb04_util names=pendant_util
|
||||
addf pendant_util $::XHC_HB04_CONFIG(threadname)
|
||||
|
||||
# If twopass, do not call procs in pass0 that test pin
|
||||
# connections since components not yet loaded
|
||||
if { ![namespace exists ::tp] || ([::tp::passnumber] != 0) } {
|
||||
connect_pins ;# per INI file items: [XHC_HB04_BUTTONS]buttonname=pin
|
||||
wheel_setup $::XHC_HB04_CONFIG(jogmode)
|
||||
# jog wheel per INI file items:
|
||||
# [XHC_HB04_CONFIG]coords,coefs,scales
|
||||
}
|
||||
if [info exists ::makenet_msg] {
|
||||
popup_msg $::makenet_msg
|
||||
}
|
||||
#parray ::XHC_HB04_CONFIG
|
||||
Reference in New Issue
Block a user