diff --git a/config/hal/0-base.hal b/config/hal/0-base.hal
index 9fecaf6..6af9192 100644
--- a/config/hal/0-base.hal
+++ b/config/hal/0-base.hal
@@ -3,7 +3,7 @@ loadusr -W hal_manualtoolchange
loadrt [KINS](KINEMATICS)
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)
-loadrt pid names=pid.x,pid.y,pid.z num_chan=3 debug=1
+loadrt pid names=pid.x,pid.y,pid.z debug=1
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](IPADDRESS) config="sserial_port_0=20000000"
@@ -22,9 +22,10 @@ loadrt odometer names=lube.odometer
loadrt estop_latch names=estop.latch
loadrt and2 names=tool-change.and
-loadrt or2 names=lube.or,buttons.or.resume,buttons.or.pause,buttons.or.run,buttons.or.stop,spindle.button-on.or,spindle.button-off.or
+loadrt or2 names=lube.or,buttons.or.resume,buttons.or.pause,buttons.or.run,buttons.or.stop,spindle.on.or,spindle.off.or
loadrt not names=estop.not.0,estop.not.1,tool-change.not
+loadrt lowpass names=feed-pot.lowpass
loadrt ilowpass names=jog.lowpass.x,jog.lowpass.y,jog.lowpass.z
loadrt scale names=jog.scale.x,jog.scale.y,jog.scale.z,feed-pot.scale,spindle-pot.scale,jog-pot.scale
diff --git a/config/hal/1-axis-x.hal b/config/hal/1-axis-x.hal
index 6509d0e..8db7798 100644
--- a/config/hal/1-axis-x.hal
+++ b/config/hal/1-axis-x.hal
@@ -23,16 +23,16 @@ setp hm2_7i97.0.encoder.00.index-mask 0
setp hm2_7i97.0.encoder.00.index-mask-invert 0
setp hm2_7i97.0.encoder.00.scale [JOINT_0](ENCODER_SCALE)
-net joint.0.enable => pid.x.enable
-net joint.0.enable => joint.0.amp-enable-out
-net joint.0.enable => hm2_7i97.0.pwmgen.00.enable
+net joint.net.0.enable => pid.x.enable
+net joint.net.0.enable => joint.0.amp-enable-out
+net joint.net.0.enable => hm2_7i97.0.pwmgen.00.enable
-net joint.0.pos-cmd => pid.x.command
-net joint.0.pos-cmd => joint.0.motor-pos-cmd
+net joint.net.0.pos-cmd => pid.x.command
+net joint.net.0.pos-cmd => joint.0.motor-pos-cmd
-net joint.0.pos-fb => pid.x.feedback
-net joint.0.pos-fb => joint.0.motor-pos-fb
-net joint.0.pos-fb => hm2_7i97.0.encoder.00.position
+net joint.net.0.pos-fb => pid.x.feedback
+net joint.net.0.pos-fb => joint.0.motor-pos-fb
+net joint.net.0.pos-fb => hm2_7i97.0.encoder.00.position
-net joint.0.output => pid.x.output
-net joint.0.output => hm2_7i97.0.pwmgen.00.value
+net joint.net.0.output => pid.x.output
+net joint.net.0.output => hm2_7i97.0.pwmgen.00.value
diff --git a/config/hal/1-axis-y.hal b/config/hal/1-axis-y.hal
index 0841f34..9847f6d 100644
--- a/config/hal/1-axis-y.hal
+++ b/config/hal/1-axis-y.hal
@@ -23,17 +23,17 @@ setp hm2_7i97.0.encoder.01.index-mask 0
setp hm2_7i97.0.encoder.01.index-mask-invert 0
setp hm2_7i97.0.encoder.01.scale [JOINT_1](ENCODER_SCALE)
-net joint.1.enable => pid.y.enable
-net joint.1.enable => joint.1.amp-enable-out
-net joint.1.enable => hm2_7i97.0.pwmgen.01.enable
+net joint.net.1.enable => pid.y.enable
+net joint.net.1.enable => joint.1.amp-enable-out
+net joint.net.1.enable => hm2_7i97.0.pwmgen.01.enable
-net joint.1.pos-cmd => pid.y.command
-net joint.1.pos-cmd => joint.1.motor-pos-cmd
+net joint.net.1.pos-cmd => pid.y.command
+net joint.net.1.pos-cmd => joint.1.motor-pos-cmd
-net joint.1.pos-fb => pid.y.feedback
-net joint.1.pos-fb => joint.1.motor-pos-fb
-net joint.1.pos-fb => hm2_7i97.0.encoder.01.position
+net joint.net.1.pos-fb => pid.y.feedback
+net joint.net.1.pos-fb => joint.1.motor-pos-fb
+net joint.net.1.pos-fb => hm2_7i97.0.encoder.01.position
-net joint.1.output => pid.y.output
-net joint.1.output => hm2_7i97.0.pwmgen.01.value
+net joint.net.1.output => pid.y.output
+net joint.net.1.output => hm2_7i97.0.pwmgen.01.value
diff --git a/config/hal/1-axis-z.hal b/config/hal/1-axis-z.hal
index 42b2b70..db84c78 100644
--- a/config/hal/1-axis-z.hal
+++ b/config/hal/1-axis-z.hal
@@ -23,17 +23,17 @@ setp hm2_7i97.0.encoder.02.index-mask 0
setp hm2_7i97.0.encoder.02.index-mask-invert 0
setp hm2_7i97.0.encoder.02.scale [JOINT_2](ENCODER_SCALE)
-net joint.2.enable => pid.z.enable
-net joint.2.enable => joint.2.amp-enable-out
-net joint.2.enable => hm2_7i97.0.pwmgen.02.enable
+net joint.net.2.enable => pid.z.enable
+net joint.net.2.enable => joint.2.amp-enable-out
+net joint.net.2.enable => hm2_7i97.0.pwmgen.02.enable
-net joint.2.pos-cmd => pid.z.command
-net joint.2.pos-cmd => joint.2.motor-pos-cmd
+net joint.net.2.pos-cmd => pid.z.command
+net joint.net.2.pos-cmd => joint.2.motor-pos-cmd
-net joint.2.pos-fb => pid.z.feedback
-net joint.2.pos-fb => joint.2.motor-pos-fb
-net joint.2.pos-fb => hm2_7i97.0.encoder.02.position
+net joint.net.2.pos-fb => pid.z.feedback
+net joint.net.2.pos-fb => joint.2.motor-pos-fb
+net joint.net.2.pos-fb => hm2_7i97.0.encoder.02.position
-net joint.2.output => pid.z.output
-net joint.2.output => hm2_7i97.0.pwmgen.02.value
+net joint.net.2.output => pid.z.output
+net joint.net.2.output => hm2_7i97.0.pwmgen.02.value
diff --git a/config/hal/11-sserial.hal b/config/hal/11-sserial.hal
index c8d791e..9cf555e 100644
--- a/config/hal/11-sserial.hal
+++ b/config/hal/11-sserial.hal
@@ -5,20 +5,23 @@ net buttons.rpm-is-set <= hm2_7i97.0.7i84.0.0.input-09
net buttons.set-spindle-off <= hm2_7i97.0.7i84.0.0.input-10
net buttons.set-spindle-on <= hm2_7i97.0.7i84.0.0.input-11
-net bootons.tool-change <= hm2_7i97.0.7i84.0.0.input-12
+net buttons.tool-change <= hm2_7i97.0.7i84.0.0.input-12
net buttons.tool-change-completed <= hm2_7i97.0.7i84.0.0.input-13
net buttons.force-lubricator <= hm2_7i97.0.7i84.0.0.input-16
-net buttons.set-x-zero <= hm2_7i97.0.7i84.0.0.input-05 => halui.mdi-command-05
-net buttons.set-z-zero <= hm2_7i97.0.7i84.0.0.input-17 => halui.mdi-command-07
-net buttons.set-y-zero <= hm2_7i97.0.7i84.0.0.input-21 => halui.mdi-command-06
+net buttons.set-x-zero <= hm2_7i97.0.7i84.0.0.input-05 => halui.mdi-command-05
+net buttons.set-z-zero <= hm2_7i97.0.7i84.0.0.input-17 => halui.mdi-command-07
+
+net buttons.home-all <= hm2_7i97.0.7i84.0.0.input-20 => halui.home-all
+
+net buttons.set-y-zero <= hm2_7i97.0.7i84.0.0.input-21 => halui.mdi-command-06
net buttons.resume <= hm2_7i97.0.7i84.0.0.input-23
net buttons.pause <= hm2_7i97.0.7i84.0.0.input-22
net buttons.run <= hm2_7i97.0.7i84.0.0.input-07
net buttons.stop <= hm2_7i97.0.7i84.0.0.input-06
-net buttons.program-step <= hm2_7i97.0.7i84.0.0.input-19 => halui.program.step
+net buttons.program-step <= hm2_7i97.0.7i84.0.0.input-19 => halui.program.step
# outputs 0->15 (0->5 are red, 6->11 are green)
@@ -32,4 +35,3 @@ net program.is-idle => hm2_7i97.0.7i84.0.0.output-07
net program.is-running => hm2_7i97.0.7i84.0.0.output-08
net maho-inputs.lube-pump => hm2_7i97.0.7i84.0.0.output-11
-
diff --git a/config/hal/12-panel.hal b/config/hal/12-panel.hal
index b564f4d..987fc7c 100644
--- a/config/hal/12-panel.hal
+++ b/config/hal/12-panel.hal
@@ -1,50 +1,52 @@
+addf feed-pot.lowpass servo-thread
+setp feed-pot.lowpass.gain 0.05
+
addf feed-pot.scale servo-thread
addf spindle-pot.scale servo-thread
addf jog-pot.scale servo-thread
addf feed-pot.conv servo-thread
-setp feed-pot.scale.gain 20
+setp feed-pot.scale.gain 50
setp feed-pot.scale.offset 0
-setp spindle-pot.scale.gain 20
-setp spindle-pot.scale.offset 0
-
-setp jog-pot.scale.gain 20
-setp jog-pot.scale.offset 0
+# setp spindle-pot.scale.gain 20
+# setp spindle-pot.scale.offset 0
+# setp jog-pot.scale.gain 20
+# setp jog-pot.scale.offset 0
-# ======================================
+# ======================================
# FEED OVERRIDE
-# ======================================
+# ======================================
setp halui.feed-override.scale 0.01
-setp halui.feed-override.direct-value false
+setp halui.feed-override.direct-value true
setp halui.feed-override.count-enable true
-net panel.feed-override.analog-in <= hm2_7i97.0.7i84.0.0.analogin0 => feed-pot.scale.in
-net panel.feed-override.scale-out-conv-in <= feed-pot.scale.out => feed-pot.conv.in
+net panel.feed-override.analog-in <= hm2_7i97.0.7i84.0.0.analogin0 => feed-pot.lowpass.in
+net panel.feed-override.filtered <= feed-pot.lowpass.out => feed-pot.scale.in
+net panel.feed-override.scaled <= feed-pot.scale.out => feed-pot.conv.in
net panel.feed-override.counts <= feed-pot.conv.out => halui.feed-override.counts
net panel.feed-override.value <= halui.feed-override.value
-# ======================================
+
+# ======================================
# SPINDLE SPEED
-# ======================================
+# ======================================
# net ssia-01-spindle-speed hm2_7i97.0.7i84.0.0.analogin1
-
-
# net pot-0-jog-speed-in hm2_7i97.0.7i84.0.0.analogin0 => scale.pot.0.in
# net pot-0-jog-speed-out scale.pot.0.in => halui.axis.jog-speed
# net panel.spindle-speed pyvcp.spindle-speed
-# ======================================
+# ======================================
# JOG SPEED
-# ======================================
+# ======================================
# net panel.jog-speed pyvcp.jog-speed
# net ssia-02-jog-speed hm2_7i97.0.7i84.0.0.analogin2
diff --git a/config/hal/13-spindle.hal b/config/hal/13-spindle.hal
index 157a9d5..3534052 100644
--- a/config/hal/13-spindle.hal
+++ b/config/hal/13-spindle.hal
@@ -1,35 +1,35 @@
-addf spindle.button-on.or servo-thread
-addf spindle.button-off.or servo-thread
+addf spindle.on.or servo-thread
+addf spindle.off.or servo-thread
-addf spindle.encoder.update-counters base-thread
-addf spindle.encoder.capture-position servo-thread
-addf spindle.near servo-thread
+# addf spindle.encoder.update-counters base-thread
+# addf spindle.encoder.capture-position servo-thread
+# setp spindle.encoder.position-scale 4
-setp spindle.encoder.position-scale 4
-setp spindle.counter-mode true
-setp spindle.near.scale 1.02
+# addf spindle.near servo-thread
+# setp spindle.counter-mode true
+# setp spindle.near.scale 1.02
net maho-inputs.spindle-cw <= spindle.0.reverse
net maho-inputs.spindle-ccw <= spindle.0.forward
-net spindle.position <= encoder.0.position => spindle.0.revs
+# net spindle.position <= encoder.0.position => spindle.0.revs
-net spindle.velocity <= encoder.0.velocity => spindle.0.speed-in
-net spindle.velocity => near.0.in2
+# net spindle.velocity <= encoder.0.velocity => spindle.0.speed-in
+# net spindle.velocity => near.0.in2
-net spindle.phase-a <= hm2_7i97.0.inmux.00.input-12 => encoder.0.phase-A
-net spindle.commanded-speed <= spindle.0.speed-out-rps-abs => near.0.in1
-net spindle.at-speed <= near.0.out => spindle.0.at-speed
+# net spindle.phase-a <= hm2_7i97.0.inmux.00.input-12 => encoder.0.phase-A
+# net spindle.commanded-speed <= spindle.0.speed-out-rps-abs => near.0.in1
+# net spindle.at-speed <= near.0.out => spindle.0.at-speed
net spindle-on => whb.halui.spindle.is-on
-net buttons.set-spindle-on => spindle.button-on.or.in0
-net pendant.spindle.on <= whb.halui.spindle.start => spindle.button-on.or.in1
-net spindle.set-on <= spindle.button-on.out => halui.spindle.0.start
+net buttons.set-spindle-on => spindle.on.or.in0
+net pendant.spindle.on <= whb.halui.spindle.start => spindle.on.or.in1
+net spindle.set-on <= spindle.on.or.out => halui.spindle.0.start
-net buttons.set-spindle-off => spindle.button-off.or.in0
-net pendant.spindle.off <= whb.halui.spindle.stop => spindle.button-off.or.in1
-net spindle.set-off <= spindle.button-on.out => halui.spindle.0.stop
+net buttons.set-spindle-off => spindle.off.or.in0
+net pendant.spindle.off <= whb.halui.spindle.stop => spindle.off.or.in1
+net spindle.set-off <= spindle.off.or.out => halui.spindle.0.stop
net pendant.spindle.forward <= whb.halui.spindle.forward => halui.spindle.0.forward
net pendant.spindle.reverse <= whb.halui.spindle.reverse => halui.spindle.0.reverse
diff --git a/config/hal/22-xhc-whb04b-6-axis-y.hal b/config/hal/22-xhc-whb04b-6-axis-y.hal
index d62071e..44fbd4b 100644
--- a/config/hal/22-xhc-whb04b-6-axis-y.hal
+++ b/config/hal/22-xhc-whb04b-6-axis-y.hal
@@ -6,7 +6,7 @@ setp jog.lowpass.y.gain 0.1
setp jog.scale.y.gain 0.01
setp jog.scale.y.offset 0
-net pendant.y.is-homed <= halui.joint.0.is-homed => whb.halui.joint.y.is-homed
+net pendant.y.is-homed <= halui.joint.1.is-homed => whb.halui.joint.y.is-homed
net pendant.y.select <= whb.halui.axis.y.select => halui.axis.y.select
net pendant.y.pos-feedback <= halui.axis.y.pos-feedback => whb.halui.axis.y.pos-feedback
net pendant.y.pos-relative <= halui.axis.y.pos-relative => whb.halui.axis.y.pos-relative
diff --git a/config/hal/23-xhc-whb04b-6-axis-z.hal b/config/hal/23-xhc-whb04b-6-axis-z.hal
index 19c59ff..c9a7bb0 100644
--- a/config/hal/23-xhc-whb04b-6-axis-z.hal
+++ b/config/hal/23-xhc-whb04b-6-axis-z.hal
@@ -6,7 +6,7 @@ setp jog.lowpass.z.gain 0.1
setp jog.scale.z.gain 0.01
setp jog.scale.z.offset 0
-net pendant.z.is-homed <= halui.joint.0.is-homed => whb.halui.joint.z.is-homed
+net pendant.z.is-homed <= halui.joint.2.is-homed => whb.halui.joint.z.is-homed
net pendant.z.select <= whb.halui.axis.z.select => halui.axis.z.select
net pendant.z.pos-feedback <= halui.axis.z.pos-feedback => whb.halui.axis.z.pos-feedback
net pendant.z.pos-relative <= halui.axis.z.pos-relative => whb.halui.axis.z.pos-relative
diff --git a/config/halshow.preferences b/config/halshow.preferences
index 5448715..6a51693 100644
--- a/config/halshow.preferences
+++ b/config/halshow.preferences
@@ -1,23 +1,23 @@
# Halshow settings
# This file is generated automatically.
-wm geometry . 1718x1267+704+74
+wm geometry . 899x1057+1594+334
placeFrames 0.272145144076841
set ::ratio 0.272145144076841
set ::old_w_leftf 503
set ::watchlist {
- sig+odometer-current-distance
- sig+odometer-cycles
- sig+odometer-total-distance
- sig+odometer-velocity
- sig+output-machine-power-on
pin+hm2_7i97.0.7i84.0.0.analogin0
pin+hm2_7i97.0.7i84.0.0.analogin1
pin+hm2_7i97.0.7i84.0.0.analogin2
- pin+hm2_7i97.0.7i84.0.0.analogin3
- pin+fto32.pot.feed.in
- pin+fto32.pot.feed.out
- pin+fto32.pot.feed.time
- pin+fto32.pot.feed.out-of-range
+ sig+panel.feed-override.analog-in
+ sig+panel.feed-override.filtered
+ sig+panel.feed-override.counts
+ sig+panel.feed-override.value
+ pin+halui.feed-override.count-enable
+ pin+halui.feed-override.counts
+ pin+halui.feed-override.direct-value
+ pin+halui.feed-override.reset
+ pin+halui.feed-override.scale
+ pin+halui.feed-override.value
}
set ::workmode watchhal
set ::watchInterval 100
diff --git a/config/maho-pyvcp.xml b/config/maho-pyvcp.xml
deleted file mode 100644
index 6e22002..0000000
--- a/config/maho-pyvcp.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-
-
-
-
diff --git a/config/maho.ini b/config/maho.ini
index 0f83875..840e4ad 100644
--- a/config/maho.ini
+++ b/config/maho.ini
@@ -44,8 +44,8 @@ HALFILE = hal/0-base.hal
HALFILE = hal/1-axis-x.hal
HALFILE = hal/1-axis-y.hal
HALFILE = hal/1-axis-z.hal
-HALFILE = hal/2-inputs.hal
-HALFILE = hal/3-outputs.hal
+HALFILE = hal/2-maho-outputs.hal
+HALFILE = hal/3-maho-inputs.hal
HALFILE = hal/4-estop.hal
HALFILE = hal/5-limits.hal
HALFILE = hal/7-lube.hal
@@ -74,7 +74,7 @@ EDITOR = geany
PROGRAM_PREFIX = /home/pmakris/linuxcnc/nc_files
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
-MAX_FEED_OVERRIDE = 1.0
+MAX_FEED_OVERRIDE = 2.0
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 33.0
diff --git a/config/panel.xml b/config/panel.xml
index 0c95299..a67eaa8 100644
--- a/config/panel.xml
+++ b/config/panel.xml
@@ -15,7 +15,7 @@
"feed-override"
0
- 1.2
+ 2.0