early Joints/Axes work

This starts the Joints/Axes branch.  Squashed work by:

    Alex Joni
    Chris Radek
    John Kasunich
    Michael Geszkiewicz

TODO

@@ -1,3 +1,10 @@
+TODO for the joints_axes branch
+
+* clean up joints/axes throughout the whole code (lots of parts already done)
+* define a unified jogging way (both for joints and axes)
+* implement joint-limits for carthesian moves (requires simulating the speed in userspace)
+* update configs
+(and many other probably..)
 
 TODO     sort out axis/joints issues: 
 	    * limits need to be imposed on joints (tricky with kins)

VERSION

@@ -1 +1 @@
-2.8.0~pre1
+2.8.0~pre1-ja

configs/attic/dallur-thc/dallur-advanced.hal

@@ -80,14 +80,14 @@ net limit-reached-z parport.0.pin-13-in-not
 net limit-reached-a parport.0.pin-15-in-not
 
 #Connect all limit signals to relevant axes
-net limit-reached-x axis.0.neg-lim-sw-in
-net limit-reached-x axis.0.pos-lim-sw-in
-net limit-reached-y axis.1.neg-lim-sw-in
-net limit-reached-y axis.1.pos-lim-sw-in
-net limit-reached-a axis.1.neg-lim-sw-in
-net limit-reached-a axis.1.neg-lim-sw-in
-net limit-reached-z axis.2.neg-lim-sw-in
-net limit-reached-z axis.2.neg-lim-sw-in
+net limit-reached-x joint.0.neg-lim-sw-in
+net limit-reached-x joint.0.pos-lim-sw-in
+net limit-reached-y joint.1.neg-lim-sw-in
+net limit-reached-y joint.1.pos-lim-sw-in
+net limit-reached-a joint.1.neg-lim-sw-in
+net limit-reached-a joint.1.neg-lim-sw-in
+net limit-reached-z joint.2.neg-lim-sw-in
+net limit-reached-z joint.2.neg-lim-sw-in
 
 
 ########## Charge Pump #########
@@ -214,7 +214,7 @@ net Zpos-cmd-muxed mux2.2.out
 addf mux2.2 servo-thread
 
 #Disconnect Machine/Manual Axis Z Control while ArcOK for safety and to eliminate jitter
-net Zpos-instructed-cmd <= axis.2.motor-pos-cmd
+net Zpos-instructed-cmd <= joint.2.motor-pos-cmd
 
 net Zpos-instructed-cmd => mux2.3.in0
 net Zpos-fb => mux2.3.in1

configs/attic/dallur-thc/dallur-core_stepper.hal

@@ -18,30 +18,30 @@ addf motion-controller servo-thread
 addf stepgen.update-freq servo-thread
 
 # connect position commands from motion module to step generator
-net Xpos-cmd <= axis.0.motor-pos-cmd
+net Xpos-cmd <= joint.0.motor-pos-cmd
 net Xpos-cmd => stepgen.0.position-cmd
-net Ypos-cmd <= axis.1.motor-pos-cmd
+net Ypos-cmd <= joint.1.motor-pos-cmd
 net Ypos-cmd => stepgen.1.position-cmd
 # Disabled to make THC work better
-#linksp Zpos-cmd <= axis.2.motor-pos-cmd
+#linksp Zpos-cmd <= joint.2.motor-pos-cmd
 # Disabled for THC to work
 #linksp Zpos-cmd => stepgen.2.position-cmd
 
 # connect position feedback from step generators
 # to motion module
 net Xpos-fb <= stepgen.0.position-fb
-net Xpos-fb => axis.0.motor-pos-fb
+net Xpos-fb => joint.0.motor-pos-fb
 net Ypos-fb <= stepgen.1.position-fb
-net Ypos-fb => axis.1.motor-pos-fb
+net Ypos-fb => joint.1.motor-pos-fb
 net Zpos-fb <= stepgen.2.position-fb
-net Zpos-fb => axis.2.motor-pos-fb
+net Zpos-fb => joint.2.motor-pos-fb
 
 # connect enable signals for step generators
-net Xen <= axis.0.amp-enable-out
+net Xen <= joint.0.amp-enable-out
 net Xen => stepgen.0.enable
-net Yen <= axis.1.amp-enable-out
+net Yen <= joint.1.amp-enable-out
 net Yen => stepgen.1.enable
-net Zen <= axis.2.amp-enable-out
+net Zen <= joint.2.amp-enable-out
 net Zen => stepgen.2.enable
 
 

configs/attic/demo_mazak/demo_mazak.hal

@@ -206,7 +206,7 @@ net motion-enable motion.enable
 
 # servo amp enable (only one, driven by axis 0)
 net servo-enable motenc.3.out-02
-net servo-enable axis.0.amp-enable-out
+net servo-enable joint.0.amp-enable-out
 
 # servo amp fault signals
 # the signals from the amps are actually "not running"
@@ -221,27 +221,27 @@ net Z-amp-running motenc.3.out-15
 # these are the real fault signals, and go to the motion
 # controller, they are derived from the ones above by
 # ladder logic
-net X-amp-fault axis.0.amp-fault-in
-net Y-amp-fault axis.1.amp-fault-in
-net Z-amp-fault axis.2.amp-fault-in
+net X-amp-fault joint.0.amp-fault-in
+net Y-amp-fault joint.1.amp-fault-in
+net Z-amp-fault joint.2.amp-fault-in
 
 # Limit switches
 # (the switches are NC, and open when hit, so
 # we invert the signals by using the -not input
 # pin - the result is limit signals that are
 # TRUE when the machine is on the limit.)
-net X-lim-plus  motenc.3.in-00-not => axis.0.pos-lim-sw-in
-net X-lim-minus motenc.3.in-01-not => axis.0.neg-lim-sw-in
-net Y-lim-plus  motenc.3.in-02-not => axis.1.pos-lim-sw-in
-net Y-lim-minus motenc.3.in-03-not => axis.1.neg-lim-sw-in
-net Z-lim-plus  motenc.3.in-04-not => axis.2.pos-lim-sw-in
-net Z-lim-minus motenc.3.in-05-not => axis.2.neg-lim-sw-in
+net X-lim-plus  motenc.3.in-00-not => joint.0.pos-lim-sw-in
+net X-lim-minus motenc.3.in-01-not => joint.0.neg-lim-sw-in
+net Y-lim-plus  motenc.3.in-02-not => joint.1.pos-lim-sw-in
+net Y-lim-minus motenc.3.in-03-not => joint.1.neg-lim-sw-in
+net Z-lim-plus  motenc.3.in-04-not => joint.2.pos-lim-sw-in
+net Z-lim-minus motenc.3.in-05-not => joint.2.neg-lim-sw-in
 
 # Home switches
 # (the switches are NC, see note above)
-net X-home motenc.3.in-08-not => axis.0.home-sw-in
-net Y-home motenc.3.in-09-not => axis.1.home-sw-in
-net Z-home motenc.3.in-10-not => axis.2.home-sw-in
+net X-home motenc.3.in-08-not => joint.0.home-sw-in
+net Y-home motenc.3.in-09-not => joint.1.home-sw-in
+net Z-home motenc.3.in-10-not => joint.2.home-sw-in
 
 # spindle related signals: "high level" signals
 #   ready (from drive to PC)
@@ -528,9 +528,9 @@ net Y-enc-pos motenc.3.enc-01-position
 net Z-enc-pos motenc.3.enc-02-position
 
 # index pulses
-net X-index-enable motenc.3.enc-00-index-enable axis.0.index-enable
-net Y-index-enable motenc.3.enc-01-index-enable axis.1.index-enable
-net Z-index-enable motenc.3.enc-02-index-enable axis.2.index-enable
+net X-index-enable motenc.3.enc-00-index-enable joint.0.index-enable
+net Y-index-enable motenc.3.enc-01-index-enable joint.1.index-enable
+net Z-index-enable motenc.3.enc-02-index-enable joint.2.index-enable
 
 # -----------------------------------------------------
 # DACs - output to servo amps
@@ -566,9 +566,9 @@ setp motenc.3.adc-02-offset 0.0
 
 # signals for position command
 # hook the motion controller outputs to the position command
-net X-pos-cmd axis.0.motor-pos-cmd
-net Y-pos-cmd axis.1.motor-pos-cmd
-net Z-pos-cmd axis.2.motor-pos-cmd
+net X-pos-cmd joint.0.motor-pos-cmd
+net Y-pos-cmd joint.1.motor-pos-cmd
+net Z-pos-cmd joint.2.motor-pos-cmd
 # and to the PID inputs
 net X-pos-cmd pid.0.command
 net Y-pos-cmd pid.1.command
@@ -579,9 +579,9 @@ net X-enc-pos pid.0.feedback
 net Y-enc-pos pid.1.feedback
 net Z-enc-pos pid.2.feedback
 # and to motion controller
-net X-enc-pos axis.0.motor-pos-fb
-net Y-enc-pos axis.1.motor-pos-fb
-net Z-enc-pos axis.2.motor-pos-fb
+net X-enc-pos joint.0.motor-pos-fb
+net Y-enc-pos joint.1.motor-pos-fb
+net Z-enc-pos joint.2.motor-pos-fb
 
 # hook PID outputs to DACs
 net X-volts pid.0.output

configs/by_interface/mesa/hm2-servo/hm2-servo.hal

@@ -75,7 +75,7 @@ newsig emcmot.00.enable bit
 sets emcmot.00.enable FALSE
 net emcmot.00.enable => pid.0.enable
 net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
-net emcmot.00.enable <= axis.0.amp-enable-out 
+net emcmot.00.enable <= joint.0.amp-enable-out 
 
 # encoder feedback
 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
@@ -86,7 +86,7 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
 
 setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [AXIS_0]INPUT_SCALE
 net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
-net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
+net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
 
 # set PID loop gains from inifile
 setp pid.0.Pgain [AXIS_0]P
@@ -103,7 +103,7 @@ setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale  [AXIS_0]OUTPUT_SCALE
 
-net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
+net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
 net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
 
 
@@ -116,7 +116,7 @@ newsig emcmot.01.enable bit
 sets emcmot.01.enable FALSE
 net emcmot.01.enable => pid.1.enable
 net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
-net emcmot.01.enable <= axis.1.amp-enable-out 
+net emcmot.01.enable <= joint.1.amp-enable-out 
 
 # encoder feedback
 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
@@ -127,7 +127,7 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
 
 setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [AXIS_1]INPUT_SCALE
 net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
-net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI
+net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
 
 # set PID loop gains from inifile
 setp pid.1.Pgain [AXIS_1]P
@@ -144,7 +144,7 @@ setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
 
-net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
+net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
 net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
 
 
@@ -157,7 +157,7 @@ newsig emcmot.02.enable bit
 sets emcmot.02.enable FALSE
 net emcmot.02.enable => pid.2.enable
 net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
-net emcmot.02.enable <= axis.2.amp-enable-out 
+net emcmot.02.enable <= joint.2.amp-enable-out 
 
 # encoder feedback
 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
@@ -168,7 +168,7 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
 
 setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [AXIS_2]INPUT_SCALE
 net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
-net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
+net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
 
 # set PID loop gains from inifile
 setp pid.2.Pgain [AXIS_2]P
@@ -185,7 +185,7 @@ setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
 
-net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
+net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
 net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
 
 

configs/by_interface/mesa/hm2-stepper/hm2-stepper.hal

@@ -65,16 +65,16 @@ addf estop-latch.0                        servo-thread
 newsig emcmot.00.enable bit
 sets emcmot.00.enable FALSE
 
-net emcmot.00.enable <= axis.0.amp-enable-out 
+net emcmot.00.enable <= joint.0.amp-enable-out 
 net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
 
 
 # position command and feedback
-net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
+net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
 net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
 
 net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
-net motor.00.pos-fb => axis.0.motor-pos-fb
+net motor.00.pos-fb => joint.0.motor-pos-fb
 
 
 # timing parameters
@@ -100,16 +100,16 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type       0
 newsig emcmot.01.enable bit
 sets emcmot.01.enable FALSE
 
-net emcmot.01.enable <= axis.1.amp-enable-out 
+net emcmot.01.enable <= joint.1.amp-enable-out 
 net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
 
 
 # position command and feedback
-net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
+net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
 net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
 
 net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
-net motor.01.pos-fb => axis.1.motor-pos-fb
+net motor.01.pos-fb => joint.1.motor-pos-fb
 
 
 # timing parameters
@@ -135,16 +135,16 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type       0
 newsig emcmot.02.enable bit
 sets emcmot.02.enable FALSE
 
-net emcmot.02.enable <= axis.2.amp-enable-out 
+net emcmot.02.enable <= joint.2.amp-enable-out 
 net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
 
 
 # position command and feedback
-net emcmot.02.pos-cmd <= axis.2.motor-pos-cmd
+net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd
 net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
 
 net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb
-net motor.02.pos-fb => axis.2.motor-pos-fb
+net motor.02.pos-fb => joint.2.motor-pos-fb
 
 
 # timing parameters

configs/by_interface/parport/classicladder/cl-estop/cl-estop.hal

@@ -38,44 +38,44 @@ setp stepgen.0.stepspace 0
 setp stepgen.0.dirhold 16000
 setp stepgen.0.dirsetup 16000
 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
-net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
-net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
+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 axis.0.amp-enable-out => stepgen.0.enable
-net both-home-x => axis.0.home-sw-in
-net both-home-x => axis.0.neg-lim-sw-in
-net both-home-x => axis.0.pos-lim-sw-in
+net xenable joint.0.amp-enable-out => stepgen.0.enable
+net both-home-x => joint.0.home-sw-in
+net both-home-x => joint.0.neg-lim-sw-in
+net both-home-x => joint.0.pos-lim-sw-in
 
 setp stepgen.1.position-scale [AXIS_1]SCALE
 setp stepgen.1.steplen 1
 setp stepgen.1.stepspace 0
 setp stepgen.1.dirhold 16000
 setp stepgen.1.dirsetup 16000
 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
-net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
-net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
+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 axis.1.amp-enable-out => stepgen.1.enable
-net both-home-y => axis.1.home-sw-in
-net both-home-y => axis.1.neg-lim-sw-in
-net both-home-y => axis.1.pos-lim-sw-in
+net yenable joint.1.amp-enable-out => stepgen.1.enable
+net both-home-y => joint.1.home-sw-in
+net both-home-y => joint.1.neg-lim-sw-in
+net both-home-y => joint.1.pos-lim-sw-in
 
 setp stepgen.2.position-scale [AXIS_2]SCALE
 setp stepgen.2.steplen 1
 setp stepgen.2.stepspace 0
 setp stepgen.2.dirhold 16000
 setp stepgen.2.dirsetup 16000
 setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
-net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
-net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
+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 axis.2.amp-enable-out => stepgen.2.enable
-net both-home-z => axis.2.home-sw-in
-net both-home-z => axis.2.neg-lim-sw-in
-net both-home-z => axis.2.pos-lim-sw-in
+net zenable joint.2.amp-enable-out => stepgen.2.enable
+net both-home-z => joint.2.home-sw-in
+net both-home-z => joint.2.neg-lim-sw-in
+net both-home-z => joint.2.pos-lim-sw-in
 
 # net estop-out <= iocontrol.0.user-enable-out
 # net estop-out => iocontrol.0.emc-enable-in

configs/by_interface/parport/classicladder/demo_step_cl/demo_step_cl.hal

@@ -92,11 +92,10 @@ net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
 # connect this signal to pin 10 on the parport
 net limit-reached parport.0.pin-10-in-not
 # connect this signal to all limit signals of relevant axes
-net limit-reached axis.0.neg-lim-sw-in
-net limit-reached axis.0.pos-lim-sw-in
-net limit-reached axis.1.neg-lim-sw-in
-net limit-reached axis.1.pos-lim-sw-in
-net limit-reached axis.2.neg-lim-sw-in
-#linksp limit-reached  axis.2.pos-lim-sw-in  
-
+net limit-reached joint.0.neg-lim-sw-in
+net limit-reached joint.0.pos-lim-sw-in
+net limit-reached joint.1.neg-lim-sw-in
+net limit-reached joint.1.pos-lim-sw-in
+net limit-reached joint.2.neg-lim-sw-in
+#linksp limit-reached  joint.2.pos-lim-sw-in