Expand WASM sim-config staging coverage

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/circles.ngc

@@ -0,0 +1,43 @@
+(info: Multiple circles at radius R, use 0 for current val)
+;Notes:
+;  1) z axis not altered (remains at current z)
+;  2) for  inside polygon cutting (fnum==0):
+;     start with rfraction negative
+;     and gradually increase rfraction to zero as program runs
+;     multiple circles
+;  3) for outside polygon cutting (fnum==1):
+;     start with rfraction positive
+;     and gradually decrease to zero as program runs multiple
+;     circles
+;
+; Alternate method for polygons:
+;  1) use #<radius>=0 and jog to safe starting position
+;  2) use #<revs>=1, run program for one revolution
+;  3) Run program repeatedly and manually jog x (radius)
+;     before each program start to increase/decrease
+;     current radius for inside/outside polygon respectively
+
+o<circles> sub
+     #<radius> = #1 (=  1 R  0==>current)
+     #<aspeed> = #2 (=  8 aspeed: RPM)
+     #<lspeed> = #3 (= 10 lspeed: units/sec)
+       #<revs> = #4 (=  1 +/- Revolutions)
+
+      #<c> = #<_c> ;starting value
+#<ctarget> = [#<c> + #<revs> * 360]
+  #<arate> = [#<aspeed> * 360]
+
+m111 ;clear prior info messages
+o<if1> if [#<radius> EQ 0]
+       #<ref_radius> = #<_x> ;use current x
+o<if1> else
+       #<ref_radius> = #<radius>
+       f#<lspeed> g1 x#<ref_radius>
+o<if1> endif
+(debug, ref_radius=#<ref_radius>)
+
+m68 e0 q#<ref_radius> ; set ref_radius for eoffsets
+
+f#<arate> g1 c#<ctarget> ; circles at arate
+
+o<circles> endsub

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini

@@ -0,0 +1,104 @@
+# Notes:
+# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
+#     Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
+#     Value of 0.0 disables external offsets
+#     Disallowed values are superseded with msg to stdout
+# 2) Immediate homing herein
+#    ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
+# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
+#    to demonstrate non-zero joint.0.motor-offset
+
+[APPLICATIONS]
+APP = sim_pin --title "MPG Simulator" \
+      e:xcounts \
+      e:ycounts \
+      e:zcounts
+
+# make sure [xyz]:ecounts are zero if machine off:
+APP = eoffsets_monitor.tcl
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
+HALFILE = eoffsets.hal
+POSTGUI_HALFILE = eoffsets_panel.hal
+
+[EMC]
+MACHINE = External Offsets Demo
+VERSION = 1.1
+
+[DISPLAY]
+PYVCP = eoffsets_panel.xml
+DISPLAY = axis
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_LINEAR_VELOCITY = 2
+OPEN_FILE = ./eoffsets.ngc
+
+TKPKG = Ngcgui 1.0
+NGCGUI_FONT = Helvetica -12 normal
+NGCGUI_SUBFILE = queuebuster.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+SUBROUTINE_PATH = .
+USER_M_PATH = .
+PARAMETER_FILE = sim.var
+
+[EMCIO]
+TOOL_TABLE = eoffset.tbl
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES   = XYZ
+LINEAR_UNITS  = inch
+ANGULAR_UNITS = degree
+
+[KINS]
+JOINTS     = 3
+KINEMATICS = trivkins coordinates=XYZ
+
+[AXIS_X]
+OFFSET_AV_RATIO  =   0.2
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -0.1
+MAX_LIMIT        =  10
+
+[AXIS_Y]
+OFFSET_AV_RATIO =    0.2
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -0.1
+MAX_LIMIT        =   5
+
+[AXIS_Z]
+OFFSET_AV_RATIO  =   0.2
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =   1
+
+[JOINT_0]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20
+
+[JOINT_1]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20
+
+[JOINT_2]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/eoffsets.ngc

@@ -0,0 +1,35 @@
+  #<xmax> =    9
+  #<ymax> =    4
+#<zdepth> =    0
+  #<feed> =   20
+
+#<x1> = [0.25 * #<xmax>]
+#<y1> = [0.66 * #<ymax>]
+#<z1> = 0
+
+#<x2> = [0.50 * #<xmax>]
+#<y2> = 0
+#<z2> = -.5
+
+#<x3> = [0.75 * #<xmax>]
+#<y3> = 0
+#<z3> = 0
+
+#<x4> = #<x3>
+#<y4> = #<y1>
+#<z4> = 0
+
+m111 ;clear notifications
+g61
+g0x0y0z0
+
+f #<feed>
+g1 x #<x1>      y #<y1>    z #<z1>
+g1 x #<x2>      y #<y2>    z #<z2>
+g1 x #<x3>      y #<y3>    z #<z3>
+g1 x #<x4>      y #<y4>    z #<z4>
+g1 x #<xmax>    y #<ymax>
+g0x0y0z0
+
+m111 ;clear notifications
+m2

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini

@@ -0,0 +1,86 @@
+# Notes:
+# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
+#     Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
+#     Value of 0.0 disables external offsets
+#     Disallowed values are superseded with msg to stdout
+# 2) Immediate homing herein
+#    ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
+# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
+#    to demonstrate non-zero joint.0.motor-offset
+
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = jwp_z_panel.hal
+
+[EMC]
+MACHINE = Jog-While-Pause Z Demo
+VERSION = 1.1
+
+[DISPLAY]
+PYVCP = jwp_z_panel.xml
+DISPLAY = axis
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_LINEAR_VELOCITY = 2
+OPEN_FILE = ./jwp_z.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+USER_M_PATH = .
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES = XYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[KINS]
+JOINTS = 3
+KINEMATICS = trivkins coordinates=XYZ
+
+[AXIS_X]
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  11
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+
+[AXIS_Y]
+MIN_LIMIT        =  -1
+MAX_LIMIT        =   5
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+
+[AXIS_Z]
+# Note: low OFFSET_AV_RATIO:
+OFFSET_AV_RATIO  =   0.05
+MIN_LIMIT        =  -1
+MAX_LIMIT        =   1
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+
+[JOINT_0]
+TYPE             = LINEAR
+HOME_SEQUENCE    =   0
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+
+[JOINT_1]
+TYPE             = LINEAR
+HOME_SEQUENCE    =   0
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+
+[JOINT_2]
+TYPE             = LINEAR
+HOME_SEQUENCE    =   0
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/jwp_z.ngc

@@ -0,0 +1,35 @@
+#<xmax>  =  10
+#<ymax>  =   5
+#<zsafe> =   0.5
+#<feed>  = 100
+
+#<x1>    = [0.25 * #<xmax>]
+#<y1>    = [0.66 * #<ymax>]
+
+#<x2>    = [0.50 * #<xmax>]
+#<y2>    = [0.33 * #<ymax>]
+
+#<x3>    = [0.75 * #<xmax>]
+#<y3>    = [0.33 * #<ymax>]
+
+m111 ;clear notifications
+g61
+g0 x0 y0 z#<zsafe>
+(debug, Enter offsets only when paused, s to continue)
+m0
+m111
+
+f #<feed>
+g0                         z0
+g1 x #<x1>      y #<y1>
+g1 x #<x2>      y #<y2>
+g1 x #<x3>      y #<y3>
+g1 x #<xmax>    y #<ymax>
+
+g0 z#<zsafe>
+(debug, Program End: Clear offsets, s to continue)
+m0
+g0 x0 y0
+
+m111 ;clear notifications
+m2

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/opa.ini

@@ -0,0 +1,87 @@
+[APPLICATIONS]
+DELAY = 3
+# For assessing system accel/vel:
+# (particularly when using func3 square wave modulation)
+APP = sim_pin ini.x.max_acceleration ini.x.max_velocity
+
+[HAL]
+HALUI           = halui
+HALFILE         = LIB:basic_sim.tcl
+HALFILE         = opa.hal
+POSTGUI_HALFILE = opa_panel.hal
+
+[EMC]
+MACHINE = External Offset(X) per Angle(C) Demo
+VERSION = 1.1
+
+[DISPLAY]
+PYVCP = opa_panel.xml
+DISPLAY = axis
+OPEN_FILE = opa_demo.ngc
+GEOMETRY = !CXZ
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_LINEAR_VELOCITY  =    2
+MAX_ANGULAR_VELOCITY =   60
+
+TKPKG = Ngcgui 1.0
+NGCGUI_FONT = Helvetica -12 normal
+NGCGUI_SUBFILE = circles.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+SUBROUTINE_PATH = .
+USER_M_PATH = .
+PARAMETER_FILE = sim.var
+
+[EMCIO]
+TOOL_TABLE = eoffset.tbl
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES   = XZC
+LINEAR_UNITS  = inch
+ANGULAR_UNITS = degree
+
+[KINS]
+JOINTS     = 3
+KINEMATICS = trivkins coordinates=XZC
+
+[AXIS_X]
+OFFSET_AV_RATIO  =  0.5
+MAX_VELOCITY     =  5
+# increase MAX_ACCELERATION to improve
+# waveform tracking:
+MAX_ACCELERATION = 50
+
+[AXIS_Z]
+MAX_VELOCITY     =  5
+MAX_ACCELERATION = 10
+
+[AXIS_C]
+MAX_VELOCITY     =  60
+MAX_ACCELERATION = 600
+
+[JOINT_0]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  5
+MAX_ACCELERATION = 50
+
+[JOINT_1]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  5
+MAX_ACCELERATION = 10
+
+[JOINT_2]
+TYPE             = ANGULAR
+HOME_SEQUENCE    =   0
+MAX_VELOCITY     =  60 
+MAX_ACCELERATION = 600

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/opa_demo.ngc

@@ -0,0 +1,15 @@
+; opa_demo.ngc:
+; invoke subroutine circles.ngc for multiple circles (#<revs>)
+; with:
+;      x = #<radius>
+;      z = #<_z>
+
+   #<radius> =     1
+        #<z> = #<_z> ; current value
+   #<aspeed> =     8 ; angular speed (RPM)
+   #<lspeed> =    10 ; linear speed  (units/minute)
+     #<revs> =   100
+
+g0 x#<radius> z#<z>
+o<circles> call [#<radius>][#<aspeed>][#<lspeed>][#<revs>]
+m2