Import LinuxCNC source tree

configs/sim/axis/wrapped_rotary/wrapped_rotary.ini

@@ -0,0 +1,131 @@
+[EMC]
+VERSION = 1.1
+MACHINE = EMC-HAL-SIM-WRAPPED-ROTARY
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 5
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python3
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = wrapped_rotary.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = wrapped_rotary.hal
+HALUI = halui
+
+[KINS]
+KINEMATICS = trivkins coordinates=xyza kinstype=BOTH
+JOINTS = 4
+
+[TRAJ]
+COORDINATES = X Y Z A
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 100
+MAX_LINEAR_VELOCITY = 100
+DEFAULT_LINEAR_ACCELERATION = 800
+MAX_LINEAR_ACCELERATION = 800
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+TOOL_TABLE = gantry_mm.tbl
+
+[AXIS_X]
+MAX_VELOCITY = 30
+MAX_ACCELERATION = 200
+MIN_LIMIT = 0
+MAX_LIMIT = 400
+
+[AXIS_Y]
+MAX_VELOCITY = 30
+MAX_ACCELERATION = 200
+MIN_LIMIT = 0
+MAX_LIMIT = 2000
+
+[AXIS_Z]
+MAX_VELOCITY = 30
+MAX_ACCELERATION = 200
+MIN_LIMIT = 0
+MAX_LIMIT = 100
+
+[AXIS_A]
+HOME = 0
+MAX_VELOCITY = 140
+MAX_ACCELERATION = 1000
+WRAPPED_ROTARY = 1
+
+
+[JOINT_0]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 900
+MIN_LIMIT = 0
+MAX_LIMIT = 400
+HOME = 0.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 1
+
+[JOINT_1]
+TYPE = LINEAR
+MAX_VELOCITY = 200
+MAX_ACCELERATION = 1000
+MIN_LIMIT = 0
+MAX_LIMIT = 2000
+HOME = 0.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = -2
+
+[JOINT_2]
+TYPE = LINEAR
+MAX_VELOCITY = 50
+MAX_ACCELERATION = 500
+MIN_LIMIT = 0
+MAX_LIMIT = 100
+HOME = 100
+HOME_OFFSET = 100
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+
+[JOINT_3]
+TYPE = ANGULAR
+MAX_VELOCITY = 140
+MAX_ACCELERATION = 1000
+HOME = 0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+