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hansuhansu
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Merge pull request #2001 from smoe/docs_affecting_src
 src: s/ini/INI/ (smoe:docs_affecting_src)
2 parents 123f69e + 2dc8a0d commit 348b0d1

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‎lib/hallib/README‎

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@@ -2,7 +2,7 @@ This directory contains halfiles (*.hal and *.tcl) that are available
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using the LinuxCNC halfile search path or by an explicit directive.
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The HALLIB_PATH is '.:HALLIB_DIR'
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The '.' specifies the directory containing the ini file.
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The '.' specifies the directory containing the INI file.
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HALIB_DIR specifies this directory.
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The explicit directive uses a prefix (LIB:) to identify halfiles:
@@ -42,7 +42,7 @@ tripodsim.hal simulated tripodkins system
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Haltcl Files (*.tcl) Notes
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----------------------- ---------------------------------------------
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basic_sim.tcl set up a sim config (arbitrary no. of axes)
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var_show.tcl show ini variables and context
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var_show.tcl show INI variables and context
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hookup_moveoff.tcl make connections for a moveoff component
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plasmac.tcl common connections for the plasmac component
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@@ -66,5 +66,5 @@ sim_lib.tcl simulator config procedures
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util_lib.tcl utility procedures
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procs:
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show_context (calling parms)
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show_ini (ini file settings)
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show_ini (INI file settings)
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show_env (environmental vars)

‎lib/hallib/basic_sim.tcl‎

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@@ -10,9 +10,9 @@
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# this script (and any prior executed hal commands)
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#
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# Coordinate letters and number_of_joints are determined from the usual
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# ini # file settings.
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# INI file settings.
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#
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# Ini file usage:
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# INI file usage:
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# [HAL]HALFILE = basic_sim.tcl [Options]
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# Options:
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# -no_make_ddts
@@ -24,7 +24,7 @@
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# Notes:
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# 1) ::env() is a global associative array of environmental variables
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# as exported by the main LinuxCNC script (linuxcnc)
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# 2) Settings from the ini file are available as global associative
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# 2) Settings from the INI file are available as global associative
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# arrays named: ::SECTION(varname)
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# example: ::EMCMOT(SERVO_PERIOD)
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# 3) procs are from sim_lib.tcl

‎lib/hallib/core_servo.hal‎

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@@ -3,7 +3,7 @@
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# first load the core RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# PID module, for three PID loops
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loadrt pid num_chan=3
@@ -30,9 +30,9 @@ setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
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setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
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setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
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33-
# set PID loop gains from inifile
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# set PID loop gains from INI file
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# the values below come from the ini
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# the values below come from the INI
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setp pid.0.Pgain [JOINT_0]P
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setp pid.0.Igain [JOINT_0]I
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setp pid.0.Dgain [JOINT_0]D

‎lib/hallib/core_sim.hal‎

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@@ -3,7 +3,7 @@
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# load 6 differentiators (for velocity and accel signals
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loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv

‎lib/hallib/core_sim9.hal‎

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@@ -6,7 +6,7 @@
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# load 6 differentiators (for velocity and accel signals
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loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv

‎lib/hallib/core_stepper.hal‎

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@@ -3,7 +3,7 @@
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# first load the core RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# stepper module, three step generators, all three using step/dir
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loadrt stepgen step_type=0,0,0
@@ -41,12 +41,12 @@ net Ydir <= stepgen.1.dir
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net Zstep <= stepgen.2.step
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net Zdir <= stepgen.2.dir
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# set stepgen module scaling - get values from ini file
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# set stepgen module scaling - get values from INI file
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.2.position-scale [JOINT_2]SCALE
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# set stepgen module accel limits - get values from ini file
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# set stepgen module accel limits - get values from INI file
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setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL

‎lib/hallib/gantrysim.hal‎

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@@ -1,7 +1,7 @@
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loadrt [KINS]KINEMATICS
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show comp
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# motion controller, get name and thread periods from ini file
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# motion controller, get name and thread periods from INI file
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loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# add motion controller functions to servo thread

‎lib/hallib/hal_procs_lib.tcl‎

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@@ -175,7 +175,7 @@ proc find_file_in_hallib_path {filename {inifile .}} {
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if {[file pathtype $filename] == "absolute"} {
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set usehalname $filename
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} else {
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# relative file specifier (relative to ini file directory)
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# relative file specifier (relative to INI file directory)
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set usehalname [file join [file dirname $inifile] $halname]
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if ![file readable $usehalname] {
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# use ::env(HALLIB_DIR)

‎lib/hallib/halcheck.tcl‎

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@@ -3,7 +3,7 @@
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# 2) signals with no inputs (not an error)
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# 3) signals with no output (not an error)
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#
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# Usage in ini file (must be the last HALFILE):
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# Usage in INI file (must be the last HALFILE):
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# [HAL]
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# ...
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# HALFILE = LIB:halcheck.tcl

‎lib/hallib/hookup_moveoff.tcl‎

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@@ -7,38 +7,38 @@ source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
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# 3) addf the moveoff component functions in required sequence
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# 4) reconnect the pos-cmd and pos-fb pins to use the component
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#
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# Support for demo type ini files where the pos-cmd and pos-fb pins are
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# Support for demo type INI files where the pos-cmd and pos-fb pins are
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# 'shortcircuit' connected together is included.
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#
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# The moveoff component may be initialized with settings from the ini file
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# The moveoff component may be initialized with settings from the INI file
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#
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# Usage:
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# 1) Specify this file in the ini file as [HAL]HALFILE
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# 1) Specify this file in the INI file as [HAL]HALFILE
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# Its position must follow halfiles that connect the pos-cmd and
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# pos-fb pins.
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# [HAL]
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# ...
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# HALFILE = hookup_moveoff.tcl
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# ...
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#
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# 2) Include ini file entries for moveoff component settings:
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# 2) Include INI file entries for moveoff component settings:
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# [MOVEOFF]
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# EPSILON =
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# WAYPOINT_SAMPLE_SECS =
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# WAYPOINT_THRESHOLD =
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# BACKTRACK_ENABLE =
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#
31-
# If these settings are not found in the ini file, the moveoff
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# If these settings are not found in the INI file, the moveoff
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# component defaults will be used.
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#
34-
# 3) Include ini file entries for the per-joint settings
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# 3) Include INI file entries for the per-joint settings
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# [MOVEOFF_n]
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# MAX_VELOCITY =
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# MAX_ACCELERATION =
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# MAX_LIMIT =
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# MIN_LIMIT =
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#
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# If settings are not found in the ini file, the items
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# If settings are not found in the INI file, the items
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# [JOINT_n]
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# MAX_VELOCITY =
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# MAX_ACCELERATION =
@@ -48,7 +48,7 @@ source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
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# defaults are used.
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#
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# To use the (optional) demonstration gui named moveoff_gui,
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# include an ini entry:
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# include an INI entry:
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#
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# [APPLICATIONS]
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# APP = moveoff_gui option1 option2 ...

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