claude init

.claude/settings.local.json

@@ -0,0 +1,11 @@
+{
+  "permissions": {
+    "allow": [
+      "WebFetch(domain:www.mesanet.com)",
+      "Bash(where pdftotext:*)",
+      "Bash(where python:*)",
+      "Bash(where python3:*)",
+      "Bash(where py:*)"
+    ]
+  }
+}

configs/lagun_gmoccapy/README.md

@@ -0,0 +1,163 @@
+# Lagun Milling Machine - GMOCCAPY Configuration
+
+LinuxCNC configuration for a Lagun 3-axis (X, Y, Z) milling machine with servo drives, controlled by a Mesa 5i24 FPGA card and the GMOCCAPY GUI. Units are imperial (inches).
+
+Originally generated by PNCconf (July 2024), then modified for GMOCCAPY and dual-encoder feedback.
+
+## Files
+
+| File | Purpose |
+|------|---------|
+| `lagun_gmoccapy.ini` | Main config: axes, PID gains, encoder scales, limits, MDI commands |
+| `lagun.hal` | Main HAL: loads drivers, wires encoders/PWM/PID/GPIO, tool change |
+| `xhc-whb04b-6.hal` | Pendant HAL: jog, axis select, feed override, macro buttons |
+| `gmoccapy_postgui.hal` | Post-GUI HAL: connects tool offset display to GMOCCAPY |
+| `shutdown.hal` | Shutdown HAL: currently empty (placeholder) |
+| `tool.tbl` | Tool table with 6 tools (T0-T5) |
+
+## Hardware
+
+### Controller
+- **Mesa 5i24** PCI FPGA card (`hm2_pci`)
+- 6 encoder channels, 6 PWM generators
+- PWM frequency: 15,500 Hz
+- Servo period: 1 ms (1,000,000 ns)
+
+### Servo Drives and PWM Mapping
+
+| Axis | PWM Channel | Output Scale |
+|------|-------------|-------------|
+| X | pwmgen.00 | +1 |
+| Y | pwmgen.02 | -1 (inverted) |
+| Z | pwmgen.04 | -1 (inverted) |
+
+### Encoder Mapping
+
+X and Y each have two encoders (motor + linear scale). Z has only a linear scale.
+
+| Signal | Encoder Channel | Scale (counts/inch) | Purpose |
+|--------|----------------|---------------------|---------|
+| X linear | encoder.00 | 5085.5 | Position feedback (used for joint FB) |
+| Y linear | encoder.01 | 5085.4 | Position feedback (used for joint FB) |
+| Z linear | encoder.02 | -10075 | Position feedback (used for joint FB) |
+| X motor | encoder.03 | -27939.6 | Velocity/damping feedback |
+| Y motor | encoder.04 | 27453.6 | Velocity/damping feedback |
+| Z motor | (none) | N/A | Not installed |
+
+### GPIO Pin Assignments
+
+**Relay outputs** (active low / inverted):
+
+| GPIO | Function |
+|------|----------|
+| 041 | Spindle on/off relay |
+| 044 | Z-axis servo enable relay |
+| 046 | X-axis servo enable relay |
+
+**Button inputs** (active low, currently unused/commented out):
+
+| GPIO | Function |
+|------|----------|
+| 027 | Button (unassigned) |
+| 028 | Button (unassigned) |
+| 029 | ESTOP button |
+| 030 | START button |
+| 031 | STOP button |
+
+The button inputs are configured as inputs but their HAL net connections are commented out because they were causing unexpected machine shutoff.
+
+## Dual PID Feedback (X and Y Axes)
+
+X and Y each use two PID loops running in parallel, whose outputs are summed:
+
+1. **Motor encoder PID** (`pid.x` / `pid.y`): Uses D gain and FF1 for velocity damping. No I gain. Feedback from the motor-mounted encoder.
+2. **Linear scale PID** (`pid.xl` / `pid.yl`): Uses high P and I gains for accurate position correction. Feedback from the linear scale mounted on the axis.
+
+The outputs are summed via `sum2` components:
+- `sum2.0`: X motor PID + X linear PID
+- `sum2.1`: Y motor PID + Y linear PID
+- `sum2.2`: Z linear PID only (no motor encoder)
+
+The **linear scale** position is used as the joint feedback (`joint.N.motor-pos-fb`), so LinuxCNC tracks actual table position rather than motor position.
+
+## Z-Axis Override Mechanism
+
+The Z-axis has a special enable/disable mechanism for manual quill operation:
+
+- A HAL `logic AND` gate combines two signals: `z-override` and `z-enable`
+- The combined output `z-enable-comb` controls the Z servo PID enable and the GPIO 044 relay
+- `z-override` defaults to TRUE at startup (CNC controls Z)
+- M101 can set `z-override` to FALSE, disabling the Z servo so the quill can be moved manually
+- M102 can set `z-override` back to TRUE to re-enable CNC Z control
+
+**Workaround**: Because the Z servo is disabled during manual quill use, the quill position diverges from the commanded position. To prevent following-error faults, `MIN_FERROR` is set to 100 inches in the INI file (ideally it would be 0.2). An attempt to dynamically switch the ferror value via a `mux2` component exists in the HAL but is non-functional (the output signal is not connected to the joint).
+
+## Spindle
+
+On/off relay control only via GPIO 041. No speed control or encoder feedback. The spindle PID section in the INI exists but is effectively unused (FF0=1 with no feedback). Default spindle speed in the GUI is 500 RPM.
+
+## Pendant (XHC WHB04B-6)
+
+Wireless pendant loaded with `xhc-whb04b-6 -HsfB` (HAL-only, step, filtered, 6-axis model).
+
+Connected to `joint.N.jog-*` pins (not `axis.x.jog-*`, which GMOCCAPY does not create).
+
+### Macro Button Mapping
+
+Macro buttons trigger MDI commands defined in the `[HALUI]` section of the INI:
+
+| Button | MDI Index | G-code | Action |
+|--------|-----------|--------|--------|
+| Macro 1 | 01 | `G10 L20 P0 X[#<_x>/2.0]` | Halve X coordinate |
+| Macro 2 | 02 | `G10 L20 P0 Y[#<_y>/2.0]` | Halve Y coordinate |
+| Macro 3 | -- | (hardcoded) | Spindle speed increase |
+| Macro 4 | -- | (hardcoded) | Spindle speed decrease |
+| Macro 5 | 05 | `G10 L20 P0 X0` | Zero X |
+| Macro 6 | 06 | `G10 L20 P0 Y0` | Zero Y |
+| Macro 7 | 07 | `G10 L20 P0 Z0` | Zero Z |
+| Macro 8 | -- | (hardcoded) | Spindle direction |
+| Macro 10 | -- | (hardcoded) | Toggle ABS/REL DRO |
+| Macro 15 | -- | (hardcoded) | Flood coolant toggle |
+| Macro 16 | -- | (hardcoded) | Mist coolant toggle |
+
+### Function Buttons
+
+| Button | Action |
+|--------|--------|
+| M-Home | Home all axes (`halui.home-all`) |
+| Safe-Z | MDI command 03 (debug/placeholder) |
+| W-Home | MDI command 04 (debug/placeholder) |
+| Probe-Z | MDI command 08 (debug/placeholder) |
+
+Feed override is connected and functional via the pendant knob.
+
+## Tool Change
+
+Manual tool change using `hal_manualtoolchange`. A dialog pops up on screen prompting the operator to change the tool. Tool prepare requests are looped back (no automatic tool changer).
+
+## Axis Limits and Homing
+
+| Axis | Travel (inches) | Home Sequence |
+|------|----------------|---------------|
+| X | -24.0 to +24.0 | 2 |
+| Y | -12.0 to +12.0 | 3 |
+| Z | -4.0 to +1.0 | 1 (first) |
+
+`NO_FORCE_HOMING = 1` is set, so the machine can be jogged and run programs without homing first.
+
+## Startup G-code
+
+```
+G20 G40 G90 G94 G97 G64 P0.001
+```
+
+- G20: Inch mode
+- G40: Cancel cutter compensation
+- G90: Absolute distance mode
+- G94: Feed per minute
+- G97: RPM mode (constant spindle speed)
+- G64 P0.001: Path blending with 0.001" tolerance
+
+## E-Stop
+
+The estop signal is looped back internally (`user-enable-out` -> `emc-enable-in`). There is no external hardware estop chain connected through LinuxCNC. The physical ESTOP button on GPIO 029 is configured as an input but not wired into the estop logic.

configs/lagun_gmoccapy/gmoccapy_postgui.hal

@@ -2,5 +2,6 @@
 # These connections are made after the GUI loads so gmoccapy pins exist
 
 # --- Tool offset display ---
+# Pass tool offset values to GMOCCAPY for DRO display
 net tooloffset-x  gmoccapy.tooloffset-x  <=  motion.tooloffset.x
 net tooloffset-z  gmoccapy.tooloffset-z  <=  motion.tooloffset.z

configs/lagun_gmoccapy/lagun.hal

@@ -1,20 +1,30 @@
+# ============================================================================
+# Lagun milling machine - Main HAL configuration
 # Generated by PNCconf at Fri Jul 26 13:18:08 2024
 # Using LinuxCNC version:  Master (2.9)
 # If you make changes to this file, they will be
 # overwritten when you run PNCconf again
+# ============================================================================
 
+# --- Load realtime modules ---
 loadrt [KINS]KINEMATICS
 loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS base_thread_fp=1
 loadrt hostmot2
 loadrt hm2_pci config="num_encoders=6 num_pwmgens=6"
+# mux16: used by pendant for jog increment, feed override, max velocity override, spindle override
 loadrt mux16 names=jogincr,foincr,mvoincr,soincr
+# mux2: selects ferror value based on z-override state (attempted but unused)
 loadrt mux2 count=1
+# sum2: sums dual PID outputs for X(0), Y(1), Z(2)
 loadrt sum2 count=3
 
+# logic: 2-input AND gate for z-override mechanism
+# personality 0x0102 = 1 output, 2 inputs, AND function
 loadrt logic count=1 personality=0x0102
 addf logic.0 servo-thread
 addf mux2.0 servo-thread
 
+# weighted_sum: for ADC reading (currently unused)
 loadrt weighted_sum wsum_sizes=8 #wsum_sizes=[128,64,32,16,8,4,2,1] # default should do conversion??
 addf process_wsums servo-thread
 
@@ -26,11 +36,19 @@ addf foincr                   servo-thread
 addf mvoincr                  servo-thread
 addf soincr                   servo-thread
 
+# --- Mesa 5i24 global PWM/watchdog settings ---
 setp    hm2_5i24.0.pwmgen.pwm_frequency 15500
 setp    hm2_5i24.0.pwmgen.pdm_frequency 15500
 setp    hm2_5i24.0.watchdog.timeout_ns 5000000
+
+# --- Load PID controllers ---
+# pid.x / pid.xl = X motor encoder / linear scale (dual loop)
+# pid.y / pid.yl = Y motor encoder / linear scale (dual loop)
+# pid.zl = Z linear scale (single loop, no motor encoder)
+# pid.s = spindle (not actively used)
 loadrt pid names=pid.x,pid.y,pid.s,pid.xl,pid.yl,pid.zl
 
+# --- Servo thread function execution order ---
 addf hm2_5i24.0.read          servo-thread
 addf motion-command-handler   servo-thread
 addf motion-controller        servo-thread
@@ -42,7 +60,10 @@ addf pid.zl.do-pid-calcs       servo-thread
 addf pid.s.do-pid-calcs       servo-thread
 addf hm2_5i24.0.write         servo-thread
 
-# relay outputs
+# --- GPIO relay outputs (active low / inverted) ---
+# GPIO 041 = spindle on/off relay
+# GPIO 044 = Z-axis servo enable relay
+# GPIO 046 = X-axis servo enable relay
 setp hm2_5i24.0.gpio.041.is_output true
 setp hm2_5i24.0.gpio.044.is_output true
 setp hm2_5i24.0.gpio.046.is_output true
@@ -50,13 +71,15 @@ setp hm2_5i24.0.gpio.041.invert_output true
 setp hm2_5i24.0.gpio.044.invert_output true
 setp hm2_5i24.0.gpio.046.invert_output true
 
-# some inputs
+# --- GPIO button inputs (active low, not all wired into HAL logic) ---
+# GPIO 029 = ESTOP, 030 = START, 031 = STOP
 setp hm2_5i24.0.gpio.027.is_output false
 setp hm2_5i24.0.gpio.028.is_output false
 setp hm2_5i24.0.gpio.029.is_output false # ESTOP
 setp hm2_5i24.0.gpio.030.is_output false # START
 setp hm2_5i24.0.gpio.031.is_output false # STOP
 
+# Button wiring attempts - commented out, caused machine to shut off unexpectedly
 #net machine_estop_out <= hm2_5i24.0.gpio.029.in_not
 #net machine_estop_out => halui.machine.on
 
@@ -69,7 +92,8 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
 # net btn-start hm2_5i24.0.gpio.030.in_not => halui.program.resume
 
 
-# first ADC
+# --- ADC inputs (commented out, unused) ---
+# first ADC (GPIO 032-039)
 #setp hm2_5i24.0.gpio.032.is_output false
 #setp hm2_5i24.0.gpio.033.is_output false
 #setp hm2_5i24.0.gpio.034.is_output false
@@ -79,7 +103,7 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
 #setp hm2_5i24.0.gpio.038.is_output false
 #setp hm2_5i24.0.gpio.039.is_output false
 
-# second ADC
+# second ADC (GPIO 040-047)
 #setp hm2_5i24.0.gpio.040.is_output false
 #setp hm2_5i24.0.gpio.041.is_output false
 #setp hm2_5i24.0.gpio.042.is_output false
@@ -89,7 +113,7 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
 #setp hm2_5i24.0.gpio.046.is_output false
 #setp hm2_5i24.0.gpio.047.is_output false
 
-
+# weighted_sum wiring for ADC (unused)
 #net hm2_5i24.0.gpio.032 <= wsum.0.bit.0.in
 #net hm2_5i24.0.gpio.033 <= wsum.0.bit.1.in
 #net hm2_5i24.0.gpio.034 <= wsum.0.bit.2.in
@@ -99,10 +123,16 @@ setp hm2_5i24.0.gpio.031.is_output false # STOP
 #net hm2_5i24.0.gpio.038 <= wsum.0.bit.6.in
 #net hm2_5i24.0.gpio.039 <= wsum.0.bit.7.in
 
-# ******************
+# ============================================================================
-#   AXIS X JOINT 0
+#   AXIS X - JOINT 0
-# ******************
+#   Dual PID: pid.x (motor encoder) + pid.xl (linear scale), summed via sum2.0
+#   Motor encoder: hm2 encoder 03
+#   Linear scale:  hm2 encoder 00
+#   PWM output:    pwmgen.00
+#   Enable relay:  GPIO 046 (active low)
+# ============================================================================
 
+# --- X motor encoder PID (velocity/damping loop) ---
 setp   pid.x.Pgain     [JOINT_0]P
 setp   pid.x.Igain     0
 setp   pid.x.Dgain     [JOINT_0]D
@@ -118,6 +148,7 @@ net x-enable        =>  pid.x.enable
 net x-pos-mtr       =>  pid.x.feedback
 net x-output-mtr    <=  pid.x.output
 
+# --- X linear scale PID (position correction loop) ---
 setp   pid.xl.Pgain     [JOINT_0]P_LIN
 setp   pid.xl.Igain     [JOINT_0]I_LIN
 setp   pid.xl.Dgain     [JOINT_0]D_LIN
@@ -133,10 +164,12 @@ net x-enable        => pid.xl.enable
 net x-pos-lin       => pid.xl.feedback
 net x-output-lin    <= pid.xl.output
 
+# Sum motor + linear PID outputs for final X drive signal
 net x-output-lin => sum2.0.in0
 net x-output-mtr => sum2.0.in1
 net x-output <= sum2.0.out
 
+# Position command feeds both PID loops
 net x-pos-cmd <= joint.0.motor-pos-cmd
 net x-pos-cmd => pid.xl.command
 net x-pos-cmd => pid.x.command
@@ -149,11 +182,13 @@ setp   hm2_5i24.0.pwmgen.00.offset-mode 1
 
 net x-output                             => hm2_5i24.0.pwmgen.00.value
 net x-enable     joint.0.amp-enable-out  => hm2_5i24.0.pwmgen.00.enable
+# X enable also drives GPIO 046 relay
 net x-enable =>  hm2_5i24.0.gpio.046.out
 net x-pos-rawcounts        <=  hm2_5i24.0.encoder.00.rawcounts
 
 # ---Encoder feedback signals/setup---
 
+# Motor encoder (encoder 03)
 setp    hm2_5i24.0.encoder.03.counter-mode 0
 setp    hm2_5i24.0.encoder.03.filter 1
 setp    hm2_5i24.0.encoder.03.index-invert 0
@@ -161,6 +196,7 @@ setp    hm2_5i24.0.encoder.03.index-mask 0
 setp    hm2_5i24.0.encoder.03.index-mask-invert 0
 setp    hm2_5i24.0.encoder.03.scale  [JOINT_0]ENCODER_MTR_SCALE
 
+# Linear scale (encoder 00)
 setp    hm2_5i24.0.encoder.00.counter-mode 0
 setp    hm2_5i24.0.encoder.00.filter 1
 setp    hm2_5i24.0.encoder.00.index-invert 0
@@ -173,15 +209,21 @@ net x-vel-mtr <=  hm2_5i24.0.encoder.03.velocity
 net x-index-enable    joint.0.index-enable  <=>  hm2_5i24.0.encoder.03.index-enable
 #net x-pos-mtr  =>  joint.0.motor-pos-fb
 
+# Linear scale provides the actual position feedback to the joint
 net x-pos-lin <= hm2_5i24.0.encoder.00.position
 net x-vel-lin <= hm2_5i24.0.encoder.00.velocity
 net x-index-enable    joint.0.index-enable  <=>  hm2_5i24.0.encoder.00.index-enable
 net x-pos-lin  =>  joint.0.motor-pos-fb
 
-# ******************
+# ============================================================================
-#   AXIS Y JOINT 1
+#   AXIS Y - JOINT 1
-# ******************
+#   Dual PID: pid.y (motor encoder) + pid.yl (linear scale), summed via sum2.1
+#   Motor encoder: hm2 encoder 04
+#   Linear scale:  hm2 encoder 01
+#   PWM output:    pwmgen.02
+# ============================================================================
 
+# --- Y motor encoder PID (velocity/damping loop) ---
 setp   pid.y.Pgain     [JOINT_1]P
 setp   pid.y.Igain     0
 setp   pid.y.Dgain     [JOINT_1]D
@@ -197,6 +239,7 @@ net y-enable        =>  pid.y.enable
 net y-pos-mtr       =>  pid.y.feedback
 net y-output-mtr    <=  pid.y.output
 
+# --- Y linear scale PID (position correction loop) ---
 setp   pid.yl.Pgain     [JOINT_1]P_LIN
 setp   pid.yl.Igain     [JOINT_1]I_LIN
 setp   pid.yl.Dgain     [JOINT_1]D_LIN
@@ -212,10 +255,12 @@ net y-enable        => pid.yl.enable
 net y-pos-lin       => pid.yl.feedback
 net y-output-lin    <= pid.yl.output
 
+# Sum motor + linear PID outputs for final Y drive signal
 net y-output-lin => sum2.1.in0
 net y-output-mtr => sum2.1.in1
 net y-output <= sum2.1.out
 
+# Position command feeds both PID loops
 net y-pos-cmd <= joint.1.motor-pos-cmd
 net y-pos-cmd => pid.yl.command
 net y-pos-cmd => pid.y.command
@@ -233,6 +278,7 @@ net y-pos-rawcounts        <=  hm2_5i24.0.encoder.01.rawcounts
 
 # ---Encoder feedback signals/setup---
 
+# Motor encoder (encoder 04)
 setp    hm2_5i24.0.encoder.04.counter-mode 0
 setp    hm2_5i24.0.encoder.04.filter 1
 setp    hm2_5i24.0.encoder.04.index-invert 0
@@ -240,6 +286,7 @@ setp    hm2_5i24.0.encoder.04.index-mask 0
 setp    hm2_5i24.0.encoder.04.index-mask-invert 0
 setp    hm2_5i24.0.encoder.04.scale  [JOINT_1]ENCODER_MTR_SCALE
 
+# Linear scale (encoder 01)
 setp    hm2_5i24.0.encoder.01.counter-mode 0
 setp    hm2_5i24.0.encoder.01.filter 1
 setp    hm2_5i24.0.encoder.01.index-invert 0
@@ -252,15 +299,28 @@ net y-vel-mtr <=  hm2_5i24.0.encoder.04.velocity
 net y-index-enable    joint.1.index-enable  <=>  hm2_5i24.0.encoder.04.index-enable
 #net y-pos-mtr  =>  joint.1.motor-pos-fb
 
+# Linear scale provides the actual position feedback to the joint
 net y-pos-lin <= hm2_5i24.0.encoder.01.position
 net y-vel-lin <= hm2_5i24.0.encoder.01.velocity
 net y-index-enable    joint.1.index-enable  <=>  hm2_5i24.0.encoder.01.index-enable
 net y-pos-lin  =>  joint.1.motor-pos-fb
 
-#*******************
+# ============================================================================
-#  AXIS Z JOINT 2
+#   AXIS Z - JOINT 2
-#*******************
+#   Single PID: pid.zl (linear scale only), output via sum2.2
+#   Linear scale:  hm2 encoder 02
+#   PWM output:    pwmgen.04
+#   Enable relay:  GPIO 044 (active low), gated by z-override AND gate
+#
+#   Z-OVERRIDE MECHANISM:
+#   A HAL "logic AND" gate combines z-override (default TRUE) with z-enable.
+#   When z-override is set FALSE (via M101), the AND output goes low,
+#   disabling the Z servo and GPIO 044 relay. This allows manual quill use.
+#   M102 sets z-override back to TRUE to re-enable CNC Z control.
+#   MIN_FERROR is set to 100 in INI to prevent following errors during manual mode.
+# ============================================================================
 
+# Z motor encoder PID commented out - no motor encoder on Z axis
 #setp   pid.z.Pgain     [JOINT_2]P
 #setp   pid.z.Igain     0
 #setp   pid.z.Dgain     [JOINT_2]D
@@ -276,6 +336,7 @@ net y-pos-lin  =>  joint.1.motor-pos-fb
 #net z-pos-mtr       =>  pid.z.feedback
 #net z-output-mtr    <=  pid.z.output
 
+# --- Z linear scale PID ---
 setp   pid.zl.Pgain     [JOINT_2]P
 setp   pid.zl.Igain     [JOINT_2]I
 setp   pid.zl.Dgain     [JOINT_2]D
@@ -287,13 +348,17 @@ setp   pid.zl.deadband  [JOINT_2]DEADBAND
 setp   pid.zl.maxoutput [JOINT_2]MAX_OUTPUT
 setp   pid.zl.error-previous-target true
 
+# Z-override AND gate: z-enable-comb = z-override AND z-enable
+# When z-override is FALSE, Z servo is disabled (manual quill mode)
 net z-override      => logic.0.in-00
 net z-enable        => logic.0.in-01
 net z-enable-comb   <= logic.0.and
 
+# Default: z-override is TRUE (CNC controls Z)
 sets z-override TRUE
 
-# this section about ferror doesnt work
+# Attempted dynamic ferror switching (not functional - see INI workaround)
+# mux2 selects between 100 (disabled) and 0.2 (enabled) based on z-enable-comb
 net z-enable-comb => mux2.0.sel
 setp mux2.0.in0 100
 setp mux2.0.in1 0.2
@@ -304,6 +369,7 @@ net z-enable-comb   => pid.zl.enable
 net z-pos-lin       => pid.zl.feedback
 net z-output-lin    <= pid.zl.output
 
+# Z only has linear scale PID, no motor encoder sum needed
 net z-output-lin => sum2.2.in0
 #net z-output-mtr => sum2.2.in1
 net z-output <= sum2.2.out
@@ -320,11 +386,13 @@ setp   hm2_5i24.0.pwmgen.04.offset-mode 1
 
 net z-output                             => hm2_5i24.0.pwmgen.04.value
 net z-enable joint.2.amp-enable-out  => hm2_5i24.0.pwmgen.04.enable
+# Z enable relay gated through AND gate (z-override mechanism)
 net z-enable-comb => hm2_5i24.0.gpio.044.out
 net z-pos-rawcounts        <=  hm2_5i24.0.encoder.02.rawcounts
 
 # ---Encoder feedback signals/setup---
 
+# Motor encoder (encoder 05) - not used on Z axis
 #setp    hm2_5i24.0.encoder.05.counter-mode 0
 #setp    hm2_5i24.0.encoder.05.filter 1
 #setp    hm2_5i24.0.encoder.05.index-invert 0
@@ -332,6 +400,7 @@ net z-pos-rawcounts        <=  hm2_5i24.0.encoder.02.rawcounts
 #setp    hm2_5i24.0.encoder.05.index-mask-invert 0
 #setp    hm2_5i24.0.encoder.05.scale  [JOINT_2]ENCODER_MTR_SCALE
 
+# Linear scale (encoder 02)
 setp    hm2_5i24.0.encoder.02.counter-mode 0
 setp    hm2_5i24.0.encoder.02.filter 1
 setp    hm2_5i24.0.encoder.02.index-invert 0
@@ -344,19 +413,23 @@ setp    hm2_5i24.0.encoder.02.scale  [JOINT_2]ENCODER_LIN_SCALE
 #net z-index-enable    joint.2.index-enable  <=>  hm2_5i24.0.encoder.05.index-enable
 #net z-pos-mtr  =>  joint.2.motor-pos-fb
 
+# Linear scale provides the actual position feedback to the joint
 net z-pos-lin <= hm2_5i24.0.encoder.02.position
 net z-vel-lin <= hm2_5i24.0.encoder.02.velocity
 net z-index-enable    joint.2.index-enable  <=>  hm2_5i24.0.encoder.02.index-enable
 net z-pos-lin  =>  joint.2.motor-pos-fb
 
 
-#### SPINDLE ####
+# ============================================================================
+#   SPINDLE
+#   On/off relay via GPIO 041 (active low). No speed control or feedback.
+# ============================================================================
 #net spindle.0.on spindle-enable
 net spindle-enable spindle.0.on => hm2_5i24.0.gpio.041.out
 
-#******************************
+# ============================================================================
-# connect miscellaneous signals
+#   MISCELLANEOUS SIGNALS
-#******************************
+# ============================================================================
 
 #  ---coolant signals---
 
@@ -375,7 +448,7 @@ net machine-is-enabled        <=  motion.motion-enabled
 #  ---digital in / out signals---
 
 #  ---estop signals---
-
+# Estop loops back: user-enable-out feeds emc-enable-in (no external estop chain)
 net estop-out     <=  iocontrol.0.user-enable-out
 net estop-out     =>  iocontrol.0.emc-enable-in
 
@@ -395,4 +468,3 @@ net tool-number            =>  hal_manualtoolchange.number
 
 #  ---ignore tool prepare requests---
 net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared
-

configs/lagun_gmoccapy/lagun_gmoccapy.ini

@@ -1,12 +1,21 @@
+# Lagun milling machine configuration for GMOCCAPY GUI
 # Based on lagun config (PNCconf Fri Jul 26 13:18:08 2024)
 # Modified to use GMOCCAPY instead of AXIS
 # Using LinuxCNC version:  Master (2.9)
+#
+# Hardware: Mesa 5i24 FPGA card (hm2_pci)
+# Axes: X, Y (dual encoder: motor + linear scale), Z (linear scale only)
+# Pendant: XHC WHB04B-6 wireless
+# Spindle: On/off relay (no speed control)
+# Units: Imperial (inches)
 
+# --- General EMC settings ---
 [EMC]
 MACHINE = my_LinuxCNC_machine
 DEBUG = 0
 VERSION = 1.1
 
+# --- GUI configuration ---
 [DISPLAY]
 DISPLAY = gmoccapy
 POSITION_OFFSET = RELATIVE
@@ -17,6 +26,7 @@ MIN_SPINDLE_OVERRIDE = 0.500000
 INTRO_GRAPHIC = linuxcnc.gif
 INTRO_TIME = 5
 PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
+# Jog increments available in the GUI (inches)
 INCREMENTS = 0.1000 0.0500 0.0100 0.0050 0.0010 0.0005 0.0001
 DEFAULT_LINEAR_VELOCITY = 3.0
 MAX_LINEAR_VELOCITY = 1.000000
@@ -29,6 +39,7 @@ GEOMETRY = xyz
 CYCLE_TIME = 100
 DEFAULT_SPINDLE_SPEED = 500
 
+# --- File type filters for loading programs ---
 [FILTER]
 PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
 PROGRAM_EXTENSION = .py Python Script
@@ -37,23 +48,31 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python3
 
+# --- Task controller ---
 [TASK]
 TASK = milltask
 CYCLE_TIME = 0.010
 
+# --- G-code interpreter ---
 [RS274NGC]
 PARAMETER_FILE = linuxcnc.var
+# Startup: G20=inch, G40=cancel cutter comp, G90=absolute, G94=feed/min,
+#          G97=RPM mode, G64 P0.001=path blending tolerance 0.001"
 RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
 
+# --- Motion controller ---
 [EMCMOT]
 EMCMOT = motmod
 COMM_TIMEOUT = 1.0
+# 1ms servo period
 SERVO_PERIOD = 1000000
 
+# --- Mesa 5i24 FPGA card ---
 [HMOT]
 # **** This is for info only ****
 CARD0=hm2_5i24.0
 
+# --- HAL file loading order ---
 [HAL]
 HALUI = halui
 HALFILE = lagun.hal
@@ -61,6 +80,16 @@ HALFILE = xhc-whb04b-6.hal
 POSTGUI_HALFILE = gmoccapy_postgui.hal
 SHUTDOWN = shutdown.hal
 
+# --- MDI commands for HALUI (pendant macro buttons) ---
+# Index 00: (unused, debug)
+# Index 01: Halve X coordinate (macro button 1)
+# Index 02: Halve Y coordinate (macro button 2)
+# Index 03: (unused, debug)
+# Index 04: (unused, debug)
+# Index 05: Zero X in current work offset (macro button 5)
+# Index 06: Zero Y in current work offset (macro button 6)
+# Index 07: Zero Z in current work offset (macro button 7)
+# Index 08-14: (unused, debug or reserved)
 [HALUI]
     MDI_COMMAND=(DEBUG,<1>)
     MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
@@ -78,24 +107,34 @@ SHUTDOWN = shutdown.hal
     MDI_COMMAND=(DEBUG,<13>)
     MDI_COMMAND=(DEBUG,<14>)
 
+# --- Kinematics ---
 [KINS]
 JOINTS = 3
 KINEMATICS = trivkins coordinates=XYZ
 
+# --- Trajectory planner ---
 [TRAJ]
 COORDINATES =  XYZ
 LINEAR_UNITS = inch
 ANGULAR_UNITS = degree
 DEFAULT_LINEAR_VELOCITY = 3.0
 MAX_LINEAR_VELOCITY = 1.00
+# Allow motion without homing first
 NO_FORCE_HOMING = 1
 
+# --- I/O controller ---
 [EMCIO]
 EMCIO = io
 CYCLE_TIME = 0.100
 TOOL_TABLE = tool.tbl
+# Raise quill before tool change
 TOOL_CHANGE_QUILL_UP = 1
 
+#******************************************
+# X AXIS - Joint 0
+# Dual feedback: motor encoder (enc 03) + linear scale (enc 00)
+# PWM output: pwmgen.00
+# Enable relay: GPIO 046 (active low)
 #******************************************
 [AXIS_X]
 MAX_VELOCITY = 1.0
@@ -113,8 +152,7 @@ MAX_ACCELERATION = 30.0
 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
 # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
 
-
+# Motor encoder PID gains (velocity loop)
-
 P = 0
 I = 0
 D = 4
@@ -123,6 +161,7 @@ FF0 = 0
 FF1 = 0.6
 FF2 = 0
 
+# Linear scale PID gains (position correction loop)
 P_LIN = 300
 I_LIN = 500
 D_LIN = 0
@@ -131,6 +170,7 @@ BIAS = 0
 DEADBAND = 0.0005
 MAX_OUTPUT = 0
 
+# Encoder scales (counts per inch)
 ENCODER_LIN_SCALE = 5085.5
 ENCODER_MTR_SCALE = -27939.6
 # 5.4 is the ratio between linear and motor scales, roughly
@@ -149,6 +189,12 @@ HOME_SEQUENCE = 2
 OUTPUT_SCALE = 1
 OUTPUT_OFFSET = 0
 
+#******************************************
+# Y AXIS - Joint 1
+# Dual feedback: motor encoder (enc 04) + linear scale (enc 01)
+# PWM output: pwmgen.02
+# Enable relay: (shares Z-axis GPIO 044 line)
+#******************************************
 [AXIS_Y]
 MAX_VELOCITY = 1.0
 MAX_ACCELERATION = 30.0
@@ -165,6 +211,7 @@ MAX_ACCELERATION = 30.0
 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
 # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
 
+# Motor encoder PID gains (velocity loop)
 P = 0
 I = 0
 D = 5
@@ -173,6 +220,7 @@ FF0 = 0
 FF1 = 0.6
 FF2 = 0
 
+# Linear scale PID gains (position correction loop)
 P_LIN = 350
 I_LIN = 500
 D_LIN = 0
@@ -181,6 +229,7 @@ BIAS = 0
 DEADBAND = 0
 MAX_OUTPUT = 1
 
+# Encoder scales (counts per inch)
 ENCODER_LIN_SCALE = 5085.4
 ENCODER_MTR_SCALE = 27453.6
 # these are in nanoseconds
@@ -194,10 +243,17 @@ MAX_LIMIT = +12
 HOME_OFFSET = 0.0
 HOME_SEQUENCE = 3
 
+# Negative scale inverts direction
 OUTPUT_SCALE = -1
 OUTPUT_OFFSET = 0
 #******************************************
 
+#******************************************
+# Z AXIS - Joint 2
+# Single feedback: linear scale only (enc 02), no motor encoder
+# PWM output: pwmgen.04
+# Enable relay: GPIO 044 (active low), gated by z-override AND logic
+# z-override allows M101/M102 to disable CNC Z for manual quill use
 #******************************************
 [AXIS_Z]
 MAX_VELOCITY = 1.0
@@ -210,6 +266,8 @@ TYPE = LINEAR
 HOME = 0.0
 FERROR = 0.5
 # SETTING MIN_FERROR TO 100 ALLOWS Z AXIS TO DO WHATEVER. IDEALLY ITS 0.2
+# This is a workaround: when z-override disables the Z servo, the quill
+# can be moved manually and would trip a normal following error limit.
 MIN_FERROR = 100
 MAX_VELOCITY = 1.0
 MAX_ACCELERATION = 30.0
@@ -217,6 +275,7 @@ MAX_ACCELERATION = 30.0
 # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
 STEPGEN_MAXVEL = 1.25
 STEPGEN_MAXACCEL = 37.50
+# Linear scale PID gains (single loop, no motor encoder on Z)
 P = 200
 I = 300
 D = 2
@@ -237,12 +296,15 @@ MAX_LIMIT = +1.0
 HOME_OFFSET = 0.0
 HOME_SEQUENCE = 1
 
+# Negative scale inverts direction
 OUTPUT_SCALE = -1
 OUTPUT_OFFSET = 0
 
+# Encoder scale (counts per inch)
 ENCODER_LIN_SCALE = -10075
 #******************************************
 
+# --- Spindle PID (not actively used; relay on/off only) ---
 [SPINDLE_0]
 P = 0
 I = 0

configs/lagun_gmoccapy/shutdown.hal

@@ -1,2 +1,3 @@
 # Include your shutdown HAL commands here
 # This file will not be overwritten when you run PNCconf again
+# Currently no shutdown actions are configured.

configs/lagun_gmoccapy/xhc-whb04b-6.hal

@@ -1,30 +1,35 @@
-
+# ============================================================================
+# XHC WHB04B-6 wireless pendant configuration for Lagun mill
+# Provides jog wheel, axis select, feed override, homing, and macro buttons
+# ============================================================================
 
 # ######################################################################
 # load pendant components
 # ######################################################################
 
+# -H = HAL-only mode, -s = step mode, -f = filtered, -B = big (6-axis pendant)
 loadusr -W xhc-whb04b-6 -HsfB
 
 # ######################################################################
 # pendant signal configuration
 # ######################################################################
 
-# On/Off signals
+# --- Machine on/off ---
 net machine.is-on                         halui.machine.is-on                   whb.halui.machine.is-on
 # net pdnt.machine.on                       whb.halui.machine.on                  halui.machine.on
 # net pdnt.machine.off                      whb.halui.machine.off                 halui.machine.off
 
-# program related signals
+# --- Program state feedback (read-only status to pendant) ---
 net pdnt.program.is-idle                  whb.halui.program.is-idle             halui.program.is-idle
 net pdnt.program.is-paused                whb.halui.program.is-paused           halui.program.is-paused
 net pdnt.program-is-running               whb.halui.program.is-running          halui.program.is-running
+# Program control buttons disabled
 #net pdnt.program.resume                   whb.halui.program.resume              halui.program.resume
 #net pdnt.program.pause                    whb.halui.program.pause               halui.program.pause
 #net pdnt.program.run                      whb.halui.program.run                 halui.program.run
 #net pdnt.program.stop                     whb.halui.program.stop                halui.program.stop
 
-# machine mode related signals
+# --- Machine mode (auto/manual/mdi/joint/teleop) ---
 net pdnt.mode.auto                        whb.halui.mode.auto                   halui.mode.auto
 net pdnt.mode.manual                      whb.halui.mode.manual                 halui.mode.manual
 net pdnt.mode.mdi                         whb.halui.mode.mdi                    halui.mode.mdi
@@ -36,12 +41,12 @@ net pdnt.mode.is-mdi                      halui.mode.is-mdi
 net pdnt.mode.is-joint                    halui.mode.is-joint                   whb.halui.mode.is-joint
 net pdnt.mode.is-teleop                   halui.mode.is-teleop                  whb.halui.mode.is-teleop
 
-# "is-homed" axis signal for allowing pendant when machine is not homed
+# --- Homed status per axis (pendant needs this to allow jogging) ---
 net pdnt.axis.X.is-homed                  halui.joint.0.is-homed                whb.halui.joint.x.is-homed
 net pdnt.axis.Y.is-homed                  halui.joint.1.is-homed                whb.halui.joint.y.is-homed
 net pdnt.axis.Z.is-homed                  halui.joint.2.is-homed                whb.halui.joint.z.is-homed
 
-# "selected axis" signals
+# --- Axis select (pendant rotary switch picks active axis) ---
 net pdnt.axis.X.select                    whb.halui.axis.x.select               halui.axis.x.select
 net pdnt.axis.y.select                    whb.halui.axis.y.select               halui.axis.y.select
 net pdnt.axis.Z.select                    whb.halui.axis.z.select               halui.axis.z.select
@@ -67,18 +72,27 @@ net pdnt.axis.y.jog-vel-mode              whb.axis.y.jog-vel-mode
 net pdnt.axis.z.jog-vel-mode              whb.axis.z.jog-vel-mode               joint.2.jog-vel-mode
 
 
-# macro buttons to MDI commands
+# --- Macro buttons mapped to MDI commands (see [HALUI] in INI) ---
+# Macro 1: halve X coord (MDI 01)
+# Macro 2: halve Y coord (MDI 02)
 net pdnt.macro-1                          whb.button.macro-1                    halui.mdi-command-01             # use MDI command from main.ini
 net pdnt.macro-2                          whb.button.macro-2                    halui.mdi-command-02             # use MDI command from main.ini or used for Hardcoded lube on/off
+# Macro 3,4: hardcoded spindle+/- inside pendant firmware
 #net pdnt.reserved.for.spindle+            whb.button.macro-3                                                     # Hardcoded for spindle+ whb.halui.spindle.increase
 #net pdnt.reserved.for.spindle-            whb.button.macro-4                                                     # Hardcoded for spindle- whb.halui.spindle.decrease
+# Macro 5: zero X (MDI 05)
+# Macro 6: zero Y (MDI 06)
+# Macro 7: zero Z (MDI 07)
 net pdnt.macro-5                          whb.button.macro-5                    halui.mdi-command-05             # use MDI command from main.ini
 net pdnt.macro-6                          whb.button.macro-6                    halui.mdi-command-06             # use MDI command from main.ini
 net pdnt.macro-7                          whb.button.macro-7                    halui.mdi-command-07             # use MDI command from main.ini
+# Macro 8: hardcoded spindle direction inside pendant
 #net pdnt.reserved.for.spindle.dir         whb.button.macro-8                                                     # Hardcoded for spindle direction inside pendant
 net pdnt.macro-9                          whb.button.macro-9                    halui.mdi-command-09             # use MDI command from main.ini
+# Macro 10: hardcoded ABS/REL DRO toggle
 net pdnt.reserved.for.ABS-REL             whb.button.macro-10                                                    # Hardcoded for swap Dro  Relative/Absolue
 net pdnt.macro-14                         whb.button.macro-14                   halui.mdi-command-14             # use MDI command from main.ini
+# Macro 15,16: hardcoded flood/mist toggles
 net pdnt.reserved.for.flood               whb.button.macro-15                                                    # Hardcoded for halui.flood on/off
 net pdnt.reserved.for.mist                whb.button.macro-16                                                    # Hardcoded for halui.mist on/off
 
@@ -87,7 +101,7 @@ net pdnt.macro.12                         whb.button.macro-12
 net pdnt.macro.13                         whb.button.macro-13                   halui.mdi-command-13             # use MDI command from main.ini
 
 
-# flood and mist toggle signals
+# --- Flood and mist coolant toggle (pendant hardcoded buttons) ---
 net  pdnt.flood.is-on                     whb.halui.flood.is-on                 halui.flood.is-on                #return signal is on or off
 net  pdnt.flood.off                       whb.halui.flood.off                   halui.flood.off                  #reserved whb.button.macro-15
 net  pdnt.flood.on                        whb.halui.flood.on                    halui.flood.on                   #reserved whb.button.macro-15
@@ -96,19 +110,20 @@ net  pdnt.mist.is-on                      whb.halui.mist.is-on
 net  pdnt.mist.off                        whb.halui.mist.off                    halui.mist.off                   #reserved whb.button.macro-16
 net  pdnt.mist.on                         whb.halui.mist.on                     halui.mist.on                    #reserved whb.button.macro-16
 
+# Lube control (unused)
 #net  pdnt.lube.is-on                      whb.halui.lube.is-on                  halui.lube.is-on                 #return signal is on or off
 #net  pdnt.lube.off                        whb.halui.lube.off                    halui.lube.off                   #reserved whb.button.macro-2
 #net  pdnt.lube.on                         whb.halui.lube.on                     halui.lube.on                    #reserved whb.button.macro-2
 
 
-# default function button signals
+# --- Default function buttons ---
 net pdnt.button.m-home                    whb.button.m-home                     halui.home-all                   # Homing use built-in halui home all
 net pdnt.button.safe-z                    whb.button.safe-z                     halui.mdi-command-03             # Safe-z  use MDI command from main.ini
 net pdnt.button.w-home                    whb.button.w-home                     halui.mdi-command-04             # Unpark  use MDI command from main.ini
 net pdnt.button.probe-z                   whb.button.probe-z                    halui.mdi-command-08             # Probe-Z use MDI command from main.ini
 
 
-# unused, just exposes pendant internal status or as basic button
+# --- Unused pendant status/button signals ---
 #net pdnt.mode-lead                        whb.halui.feed.selected-lead
 #net pdnt.mode-mpg-feed                    whb.halui.feed.selected-mpg-feed
 #net pdnt.mode-continuous                  whb.halui.feed.selected-continuous
@@ -127,7 +142,7 @@ net pdnt.button.probe-z                   whb.button.probe-z
 #net pdnt.button.feed-minus                whb.button.feed-minus
 
 
-# spindle related signals
+# --- Spindle control (disabled - relay-only spindle, no speed feedback) ---
 #net pdnt.spindle.is-on                    whb.halui.spindle.is-on               spindle.0.on
 #net pdnt.spindle.start                    whb.halui.spindle.start               halui.spindle.0.start
 #net pdnt.spindle.stop                     whb.halui.spindle.stop                halui.spindle.0.stop
@@ -138,33 +153,31 @@ net pdnt.button.probe-z                   whb.button.probe-z
 #net pdnt.spindle-speed-abs                whb.halui.spindle-speed-cmd           spindle.0.speed-out-abs          # speed cmd from motion in rpm absolue
 
 
-# spindle speed override signals
+# --- Spindle speed override (disabled) ---
 #net pdnt.spindle-override.scale           whb.halui.spindle-override.scale      halui.spindle.0.override.scale   # needed for both spindle+/- and spindleoverride+/- button
 #net pdnt.spindle.override.value           halui.spindle.0.override.value        whb.halui.spindle-override.value # GUI feed rate related signals
 #net pdnt.spindle.override.increase        whb.halui.spindle-override.increase   halui.spindle.0.override.increase
 #net pdnt.spindle.override.decrease        whb.halui.spindle-override.decrease   halui.spindle.0.override.decrease
 
 
-# GUI feed rate related signals can be used when program is running moving GUI slider
+# --- Feed override (pendant knob controls feed rate) ---
 net pdnt.feed-override.scale              whb.halui.feed-override.scale         halui.feed-override.scale        # needed for both FeedOverride+/- and rotary knob button
 net pdnt.max-velocity.value               whb.halui.max-velocity.value          halui.max-velocity.value         # needed for Mpg mode : button feed position% * max-velocity = Mpg feedrate
 
 
-# take feed override min/max values from/to the GUI
+# --- Feed override value and increment/decrement ---
 net pdnt.feed-override.value              halui.feed-override.value             whb.halui.feed-override.value    # GUI feed rate related signals
 net pdnt.feed-override.increase           whb.halui.feed-override.increase      halui.feed-override.increase
 net pdnt.feed-override.decrease           whb.halui.feed-override.decrease      halui.feed-override.decrease
 
 
-# axis position related signals feedback
+# --- Axis position feedback to pendant display ---
 net pdnt.axis.x.pos-feedback              halui.axis.x.pos-feedback             whb.halui.axis.x.pos-feedback
 net pdnt.axis.y.pos-feedback              halui.axis.y.pos-feedback             whb.halui.axis.y.pos-feedback
 net pdnt.axis.z.pos-feedback              halui.axis.z.pos-feedback             whb.halui.axis.z.pos-feedback
 
 
-# axis position related signals relative
+# --- Axis position relative to work offset (for pendant DRO) ---
 net pdnt.axis.x.pos-relative              halui.axis.x.pos-relative             whb.halui.axis.x.pos-relative
 net pdnt.axis.y.pos-relative              halui.axis.y.pos-relative             whb.halui.axis.y.pos-relative
 net pdnt.axis.z.pos-relative              halui.axis.z.pos-relative             whb.halui.axis.z.pos-relative
-
-

nc_files/M101

@@ -1,4 +1,5 @@
 #!/bin/bash
+# M101: Enable CNC Z-axis control via HAL signal (pair with M102 to disable)
 
 halcmd sets z-override True
 exit 0

nc_files/M102

@@ -1,4 +1,5 @@
 #!/bin/bash
+# M102: Disable CNC Z-axis control for manual quill operation (pair with M101 to re-enable)
 
 halcmd sets z-override False
 exit 0

nc_files/bore.ngc

@@ -1,3 +1,6 @@
+; Helical bore subroutine - cuts a circular hole by helical interpolation
+; Params: #1=x, #2=y, #3=diameter, #4=zstart, #5=zend, #6=stepdown
+; Uses #<_td> (tool diameter) to compute offset radius
 o<bore> sub
 	; x, y, d, stepdown, zstart, zend
 	G90
@@ -5,22 +8,22 @@ o<bore> sub
 
 	G0 X#1 Y#2
 	G0 Z#4
-	G1 X[#1+#3/2-#<_td>/2] Y[#2]
+	G1 X[#1+#3/2-#<_td>/2] Y[#2] ; move to bore edge, compensated for tool radius
 	G17
 
-	#<r> = [#3/2-#<_td>/2]
+	#<r> = [#3/2-#<_td>/2] ; effective bore radius (bore radius minus tool radius)
 
 	#<z> = [#4-#6]
-	o101 while [#<z> GT #5]
+	o101 while [#<z> GT #5] ; helical passes, one full circle per stepdown
 		G3 X[#1+#<r>] Y[#2] I[-#<r>] Z[#<z>] P1
 		#<z> = [#<z> - #6]
 	o101 endwhile
 
-	o102 if [#4 GT #5]
+	o102 if [#4 GT #5] ; partial final pass to reach exact zend
 
-		#<ang> = [[#<z>-#5]/#6*360]
+		#<ang> = [[#<z>-#5]/#6*360] ; angle where remaining depth is consumed
 		G3 X[#1+COS[#<ang>]*#<r>] Y[#2+SIN[#<ang>]*#<r>] I[-#<r>] Z[#5]
-		G3 X[#1+COS[#<ang>]*#<r>] Y[#2+SIN[#<ang>]*#<r>] I[-COS[#<ang>]*#<r>] J[-SIN[#<ang>]*#<r>] Z[#5]
+		G3 X[#1+COS[#<ang>]*#<r>] Y[#2+SIN[#<ang>]*#<r>] I[-COS[#<ang>]*#<r>] J[-SIN[#<ang>]*#<r>] Z[#5] ; cleanup pass at final depth
 
 		;G3 X#1 Y[#2+#3/2-#<_td>/2] J[-#3/2+#<_td>/2]
 	o102 endif

nc_files/drill.ngc

@@ -1,3 +1,5 @@
+; Peck drill subroutine - drills with retract cycles to clear chips
+; Params: #1=x, #2=y, #3=zstart, #4=zend, #5=peck_depth
 o<drill> sub
 	; x1, y1, zstart, zend, peckdp
 	; #1  #2  #3       #4     #5
@@ -20,9 +22,9 @@ o<drill> sub
 	o104 if [#5 NE 0] ; peck drilling
 		#<h> = #3
 		o101 while [#<h> GT #4]
-			G1 Z#<h>
+			G1 Z#<h>       ; drill to current peck depth
-			G0 Z#3
+			G0 Z#3         ; retract to clear chips
-			G0 Z[#<h>+.02]
+			G0 Z[#<h>+.02] ; rapid back down, stopping just above previous depth
 			#<h> = [#<h>-#5]
 		o101 endwhile
 	o104 endif

nc_files/drill_man.ngc

@@ -1,3 +1,5 @@
+; Manual drill positioning - moves to X/Y, disables Z for manual quill, then pauses
+; Params: #1=x, #2=y
 o<drill_man> sub
 	; x1, y1
 	; #1  #2

nc_files/drill_retr.ngc

@@ -1,3 +1,6 @@
+; Semi-manual drill with Z retract - positions X/Y, retracts Z, pauses for manual drill
+; Params: #1=x, #2=y, #3=z_clearance
+; BUG: endsub name (drill_man_retract) doesn't match sub name (drill_retr)
 o<drill_retr> sub
 	; x1, y1, z_clr
 	; #1  #2, #3
@@ -12,12 +15,12 @@ o<drill_retr> sub
 
 	;;;;;;;;;; PROGRAM ;;;;;;;;;
 
-	M101
+	M101                  ; enable Z for CNC retract
 	G0 Z#<z_clearance>
 	G0 X#1 Y#2
 	M102  ; disable Z-axis (M101 enables)
-	M0 ; pause
+	M0 ; pause for manual drilling
-	M101
+	M101                  ; re-enable Z for retract
 	G0 Z#<z_clearance>
 
 o<drill_man_retract> endsub

nc_files/frame_circ.ngc

@@ -1,3 +1,7 @@
+; Circle perimeter cut - cuts inside or outside a circular profile
+; Params: #1=x, #2=y, #3=diameter, #4=ztop, #5=zbot, #6=fincut, #7=mode
+; Mode bitmask: bit0=conventional, bit1=bothways, bit2=plunge(vs helix), bit3=outside
+; Uses arc lead-in/lead-out for smooth entry and exit
 o<frame_circ> sub
 	; o<frame_circ> call [x][y] [diameter] [ztop][zbot] [fincut] [mode]
 
@@ -25,7 +29,7 @@ o<frame_circ> sub
 	o1 endif
 
 
-	#<r_entry> = #<tr>
+	#<r_entry> = #<tr> ; lead-in arc radius, capped at 15% of diameter
 	o10 if [#<r_entry> GT #3*0.15]
 		#<r_entry> = [#3*0.15]
 	o10 endif

nc_files/frame_rect.ngc

@@ -1,3 +1,6 @@
+; Rectangle perimeter cut - cuts inside or outside a rectangular frame
+; Params: #1=x1, #2=y1, #3=x2, #4=y2, #5=ztop, #6=zbot, #7=mode, #8=corner_radius
+; Mode bitmask: bit0=conventional, bit1=bothways, bit2=plunge(vs helix), bit3=outside
 o<frame_rect> sub
 	; o<frame_rect> call [x1][y1] [x2][y2] [ztop][zbot] [mode] [radius]
 
@@ -43,7 +46,7 @@ o<frame_rect> sub
 
 
 	o10 if [#<M_INSIDE> AND #<M_CONVENTIONAL>]
-		; plunge in center
+		; CW inside: plunge in center, traverse to wall, trace perimeter
 		G0 X[[#1+#3]/2] Y[[#2+#4]/2]
 		G0 Z#5
 		G1 Z#6
@@ -74,7 +77,7 @@ o<frame_rect> sub
 		G0 Z#5
 
 	o10 elseif [#<M_INSIDE> AND #<M_CLIMB>]
-		; CCW inside
+		; CCW inside: plunge in center, trace perimeter counterclockwise
 		G0 X[[#1+#3]/2] Y[[#2+#4]/2]
 		G0 Z#5
 		G1 Z#6
@@ -104,7 +107,7 @@ o<frame_rect> sub
 		G0 Z#5
 		
 	o10 elseif [#<M_OUTSIDE> AND #<M_CONVENTIONAL>]
-		; plunge at corner
+		; CW outside: plunge at corner, trace perimeter offset outward
 		G0 X[#<minx>-#<tr>] Y[#<maxy>+#<tr>]
 		G0 Z#5
 		G1 Z#6
@@ -129,7 +132,7 @@ o<frame_rect> sub
 		G0 Z#5
 
 	o10 elseif [#<M_OUTSIDE> AND #<M_CLIMB>]
-		; plunge at corner
+		; CCW outside: plunge at corner, trace perimeter offset outward
 		G0 X[#<minx>-#<tr>] Y[#<miny>-#<tr>]
 		G0 Z#5
 		G1 Z#6

nc_files/macros.md

@@ -1,26 +1,196 @@
-# Modes
+# Macros & Subroutines
-Default mode (0) is:
-- Climb milling
-- One-way milling
-- Helix entry
-- Inside
 
-+1: Conventional milling
+Custom M-codes and G-code subroutines for the Lagun mill LinuxCNC configuration.
-+2: Both-ways milling
-+4: Plunge entry
-+8: Outside
 
-# Fun stuff
+## Mode Flags (Bitmask)
 
-Specifying a negative finish cut should cause macros to do all the roughing and leave the (positive) amount of material behind for a separate finishing op.
+Several macros (`pocket_circ`, `pocket_rect`, `frame_rect`, `frame_circ`, `slot`) accept a `mode` parameter as a bitmask:
+
+| Bit | Value | Set (1) | Clear (0) |
+|-----|-------|---------|-----------|
+| 0 | +1 | Conventional milling | Climb milling |
+| 1 | +2 | Both-ways milling | One-way milling |
+| 2 | +4 | Plunge entry | Helix entry |
+| 3 | +8 | Outside | Inside |
+
+Default mode (0) = climb, one-way, helix entry, inside.
+
+## Global Named Parameters
+
+These optional globals configure macro behavior when set before calling:
+
+| Parameter | Description | Default |
+|-----------|-------------|---------|
+| `#<_td>` | Tool diameter (from tool table) | **Required** - used by all material-removal macros |
+| `#<_z_clearance>` | Safe Z retract height | Falls back to ztop param |
+| `#<_rampang>` | Ramp/helix entry angle in degrees | 5.0 |
+| `#<_stepover>` | Stepover distance for spiral pocketing | 40% of tool diameter |
+
+A negative `fincut` value causes macros to rough only, leaving material for a separate finishing pass.
+
+## M-Codes (Shell Scripts)
+
+### M101 - Enable Z-Axis
+Sets HAL signal `z-override` to True, enabling CNC control of Z.
+
+### M102 - Disable Z-Axis
+Sets HAL signal `z-override` to False, allowing manual quill control.
+
+## Drilling Subroutines
+
+### drill.ngc - Peck Drill
+Fully automatic drilling with optional peck cycle.
 
-# Typical Header
 ```
-#<_z_clearance> = 0.0 ; clearance height
+o<drill> call [x][y] [ztop][zbot] [peck]
-#<_rampang>     = 5.0 ; ramp angle in degrees for helical entry
+```
 
-G10 L1 P1 Z0.0 R0.25 ; set tool P1 to Z-offset Z0.0 and radius R0.25
+| # | Name | Description |
-T1   ; set tool to T1
+|---|------|-------------|
+| #1 | X | Hole X position |
+| #2 | Y | Hole Y position |
+| #3 | Z Start | Top of material / start Z |
+| #4 | Z End | Final drill depth |
+| #5 | Peck | Depth per peck (0 = no peck) |
+
+Calls M101 to enable Z-axis. Retracts to Z Start between pecks with 0.020" rapid-approach gap.
+
+### drill_man.ngc - Manual Drill
+Positions XY then pauses for operator to manually plunge.
+
+```
+o<drill_man> call [x][y]
+```
+
+Calls M102 to disable Z-axis, then M0 pause.
+
+### drill_retr.ngc - Semi-Manual Drill with Retract
+Positions XY, retracts Z to clearance, disables Z for manual plunge, then re-enables and retracts on resume.
+
+```
+o<drill_retr> call [x][y] [z_clearance]
+```
+
+## Material Removal Subroutines
+
+### pocket_circ.ngc - Circular Pocket
+Cuts a circular pocket using an outward spiral from center.
+
+```
+o<pocket_circ> call [x][y] [diameter] [ztop][zbot] [fincut] [mode]
+```
+
+| # | Name | Description |
+|---|------|-------------|
+| #1 | X | Center X |
+| #2 | Y | Center Y |
+| #3 | Diameter | Pocket diameter |
+| #4 | Z Top | Start Z |
+| #5 | Z Bottom | Final depth |
+| #6 | Finish Cut | Finish allowance (negative = rough only) |
+| #7 | Mode | Bitmask (see above) |
+
+Supports helix or plunge entry. Spirals outward with stepover, then does a pre-finish circle and optional finish circle at full diameter.
+
+### pocket_rect.ngc - Rectangular Pocket
+Cuts a rectangular pocket. Uses helical or straight plunge, then an outward spiral that transitions to linear passes when the spiral hits the rectangle boundary.
+
+```
+o<pocket_rect> call [x1][y1] [x2][y2] [zstart][zend] [fincut] [mode]
+```
+
+| # | Name | Description |
+|---|------|-------------|
+| #1,#2 | X1, Y1 | First corner |
+| #3,#4 | X2, Y2 | Opposite corner |
+| #5 | Z Start | Start Z |
+| #6 | Z End | Final depth |
+| #7 | Finish Cut | Finish allowance |
+| #8 | Mode | 0=CCW/helix, 1=CW/helix, 2=CCW/plunge, 3=CW/plunge |
+
+Contains internal sub `o<xp>` for filling corners after the spiral exceeds the rectangle bounds.
+
+### frame_rect.ngc - Rectangular Frame
+Cuts along the perimeter of a rectangle (inside or outside).
+
+```
+o<frame_rect> call [x1][y1] [x2][y2] [ztop][zbot] [mode] [radius]
+```
+
+| # | Name | Description |
+|---|------|-------------|
+| #1,#2 | X1, Y1 | First corner |
+| #3,#4 | X2, Y2 | Opposite corner |
+| #5 | Z Top | Start Z |
+| #6 | Z Bottom | Final depth |
+| #7 | Mode | Bitmask |
+| #8 | Radius | Corner radius (0 = sharp corners) |
+
+Supports all four combinations of inside/outside and climb/conventional. Plunges at center (inside) or corner (outside), then traces the rectangle with optional corner radii.
+
+### frame_circ.ngc - Circular Frame
+Cuts along the perimeter of a circle (inside or outside).
+
+```
+o<frame_circ> call [x][y] [diameter] [ztop][zbot] [fincut] [mode]
+```
+
+| # | Name | Description |
+|---|------|-------------|
+| #1 | X | Center X |
+| #2 | Y | Center Y |
+| #3 | Diameter | Circle diameter |
+| #4 | Z Top | Start Z |
+| #5 | Z Bottom | Final depth |
+| #6 | Finish Cut | Finish allowance |
+| #7 | Mode | Bitmask |
+
+Uses a small arc entry/exit move (capped at 15% of diameter) for smooth engagement.
+
+### slot.ngc - Slot
+Cuts a slot (obround/stadium shape) between two points.
+
+```
+o<slot> call [x1][y1] [x2][y2] [width] [ztop][zbot] [fincut] [mode]
+```
+
+| # | Name | Description |
+|---|------|-------------|
+| #1,#2 | X1, Y1 | Slot start center |
+| #3,#4 | X2, Y2 | Slot end center |
+| #5 | Width | Slot width |
+| #6 | Z Top | Start Z |
+| #7 | Z Bottom | Final depth |
+| #8 | Finish Cut | Finish allowance |
+| #9 | Mode | Bitmask |
+
+Plunges at start, cuts to end, then traces the obround profile. Supports optional pre-finish pass when fincut > 0.
+
+### bore.ngc - Helical Bore
+Helical-interpolation boring subroutine.
+
+```
+o<bore> call [x][y] [d] [zstart][zend] [stepdown]
+```
+
+| # | Name | Description |
+|---|------|-------------|
+| #1 | X | Center X |
+| #2 | Y | Center Y |
+| #3 | D | Bore diameter |
+| #4 | Z Start | Start Z |
+| #5 | Z End | Final depth |
+| #6 | Stepdown | Depth per helical pass |
+
+Spirals down in full-circle passes, then does a partial-arc cleanup and spring pass at final depth. Returns to center and Z0.
+
+## Typical Program Header
+```
+#<_z_clearance> = 0.0
+#<_rampang>     = 5.0
+
+G10 L1 P1 Z0.0 R0.25  ; set tool P1 offset and radius
+T1   ; select tool
 M06  ; manual toolchange
 
 M101 ; enable z-axis
@@ -30,26 +200,28 @@ G54  ; fixture #1
 F5.0 ; feedrate
 ```
 
+## Known Bugs
 
-# Material removal
+1. **drill_retr.ngc: Sub name mismatch.** Opened as `o<drill_retr>` (line 1) but closed as `o<drill_man_retract>` (line 23). This will cause a runtime error - LinuxCNC requires matching sub/endsub names.
 
-o<pocket_rect> call
+2. **bore.ngc: Parameter comment is wrong.** The inline comment says `; x, y, d, stepdown, zstart, zend` but the actual parameter order used by the code is `x, y, d, zstart, zend, stepdown`. Anyone calling based on the comment would get wrong results.
-o<pocket_circ> call
 
-o<frame_rect>  call
+3. **bore.ngc: Undocumented `#<_td>` dependency.** Uses global `#<_td>` for tool-diameter compensation but never validates it. If unset (defaults to 0), the bore toolpath radius becomes `D/2` instead of `(D - tool_dia)/2`, cutting an oversized bore.
-o<frame_circ>  call
 
-o<slot> call [x1][y1] [x2][y2] [width] [ztop][zbot] [finishcut]
+4. **drill.ngc: First peck cycle is a no-op.** The loop initializes `#<h> = #3` (Z Start) then immediately does `G1 Z#<h>` - moving to where the tool already is. First real cut happens on the second iteration. Wastes one retract cycle.
-o<bore> call [x][y] [stepdown] [ztop][zbot]
 
-# Drilling
+5. **pocket_circ.ngc: Suspicious angle calculation.** Line 66 has a `TODO` comment from the author: `; TODO: what the heck is the denominator here doing?` The finish-plunge angle divides by `[#4-#5]` (ztop - zbot). If ztop is 0 this produces a division by a potentially small number, which may cause unexpected arc endpoints.
 
-o<drill>      call [x][y] [ztop][zbot] [(peck)]; fully automoatic drilling op; drills at x,y from ztop to zbot in optional increments of peck (full retraction)
+6. **pocket_rect.ngc: Incomplete rectangular clearing.** The spiral-to-rectangle transition has commented-out code (lines 141-151) and a note saying "subroutines might be the best way to do this". The `o<xp>` helper sub attempts to fill the remaining area but uses a different algorithm. Corners may not be fully cleared depending on geometry.
 
-o<drill_man>  call [x][y] ; fully manual drilling op; z axis entirely disabled
+7. **slot.ngc: Test code after endsub.** Lines 79-83 contain hardcoded test calls that execute whenever the file is loaded. These should be removed or moved to a separate test file. The test calls also only provide 7 of 9 parameters (fincut and mode default to 0).
-o<drill_retr> call [x][y] ; semi-manual drilling op; z axis retracts, but disabled on downstroke
 
-# Footer
+8. **frame_circ.ngc: lead-in arcs can be larger than actual pocket size.** this causes overcutting. not good.
-```
+
-M2 ; end program
+9. **some combination of values will cause hangs.** This is in several macros. linuxcnc does not have stall/timeout detection; if a macro gets stuck in an infinite loop, it hangs linuxcnc.
-```
+
+## Other Todos
+
+1. Change macros to use UPPERCASE_WITH_UNDERSCORES naming (both the filenames, and the usage of them in all .ngc files)
+2. Purge all .cnc programs
+3. Maybe: Use tool diameter instead of the td global. (we will use tool change stuff)

nc_files/pocket_circ.ngc

@@ -1,3 +1,6 @@
+; Circular pocket - clears a round pocket using spiral toolpath
+; Params: #1=x, #2=y, #3=diameter, #4=ztop, #5=zbot, #6=finishcut, #7=mode
+; Mode bitmask: bit0=conventional, bit1=bothways, bit2=plunge(vs helix), bit3=outside
 o<pocket_circ> sub
 	; o<pocket_circ> call [x][y] [diameter] [ztop][zbot] [finishcut] [mode]
 
@@ -33,15 +36,15 @@ o<pocket_circ> sub
 		#<stepover> = [#<td>*0.4]
 	o3 endif
 
-	o4 if [#<td> GT #3]
+	o4 if [#<td> GT #3] ; tool bigger than pocket, bail out
 		o5 return
 	o4 endif
 
 	#<a> = 0
 	#<r> = 0
 	o100 if [#<M_HELIX>] ; helical plunge
-		#<r> = [#<td>*0.3]
+		#<r> = [#<td>*0.3] ; helix radius = 30% of tool diameter
-		o115 if [[[#3-#<td>]/2-ABS[#6]] LE #<r>]
+		o115 if [[[#3-#<td>]/2-ABS[#6]] LE #<r>] ; shrink if helix would exceed pocket wall
 			#<r> = [[[#3-#<td>]/2-ABS[#6]]*0.8]
 		o115 endif
 
@@ -82,7 +85,7 @@ o<pocket_circ> sub
 
 	o100 endif
 
-	; do the spiral :)
+	; spiral outward from center to clear pocket, stopping short by finishcut amount
 	#<r_base> = #<r>
 	#<a_base> = #<a>
 	o105 while [#<r> LT [[#3-#<td>]/2-ABS[#6]]]
@@ -92,12 +95,12 @@ o<pocket_circ> sub
 		o106 else
 			G1 X[#1+COS[#<a>]*#<r>] Y[#2-SIN[#<a>]*#<r>]
 		o106 endif
-		#<a> = [#<a>+1] ; next angle
+		#<a> = [#<a>+1] ; advance 1 degree per step
 
-		#<r> = [#<r_base>+[#<a>-#<a_base>]/360*#<stepover>] ; compute the radius accordingly
+		#<r> = [#<r_base>+[#<a>-#<a_base>]/360*#<stepover>] ; radius grows by stepover each revolution
 	o105 endwhile
 
-	; pre-finish cut
+	; pre-finish cut: full circle at pocket wall minus finishcut allowance
 	#<r> = [[#3-#<td>]/2-ABS[#6]]
 	o107 if [#<M_CLIMB>]
 		G1 X[#1+COS[#<a>]*#<r>] Y[#2+SIN[#<a>]*#<r>]
@@ -107,18 +110,18 @@ o<pocket_circ> sub
 		G2 X[#1+COS[#<a>]*#<r>] Y[#2-SIN[#<a>]*#<r>] I[#1] J[#2]
 	o107 endif
 
-	; finish cut
+	; finish cut: full circle at final pocket wall radius
 	o104 if [ABS[#6] GT 0.0]
 		#<r> = [[#3-#<td>]/2]
 		o108 if [#<M_CLIMB>]
 			G1 X[#1+COS[#<a>]*#<r>] Y[#2+SIN[#<a>]*#<r>]
 			G3 X[#1+COS[#<a>]*#<r>] Y[#2+SIN[#<a>]*#<r>] I[#1] J[#2]
-			#<r> = [[#3-#<td>]/2*0.9]
+			#<r> = [[#3-#<td>]/2*0.9] ; retract slightly inward before rapid out
 			G1 X[#1+COS[#<a>]*#<r>] Y[#2+SIN[#<a>]*#<r>]
 		o108 else
 			G1 X[#1+COS[#<a>]*#<r>] Y[#2-SIN[#<a>]*#<r>]
 			G2 X[#1+COS[#<a>]*#<r>] Y[#2-SIN[#<a>]*#<r>] I[#1] J[#2]
-			#<r> = [[#3-#<td>]/2*0.9]
+			#<r> = [[#3-#<td>]/2*0.9] ; retract slightly inward before rapid out
 			G1 X[#1+COS[#<a>]*#<r>] Y[#2-SIN[#<a>]*#<r>]
 		o108 endif
 	o104 endif

nc_files/pocket_rect.ngc

@@ -1,3 +1,8 @@
+; Rectangular pocket - clears using spiral then corner-clearing helper sub
+; Params: #1=x1, #2=y1, #3=x2, #4=y2, #5=zstart, #6=zend, #7=fincut, #8=mode
+; Mode: 0=CCW/ramp, 1=CW/ramp, 2=CCW/plunge, 3=CW/plunge
+
+; pre-declare named params used across sub/helper scope
 #<a> = 0
 #<z> = 0
 #<td> = 0
@@ -44,7 +49,7 @@ o<pocket_rect> sub
 	o3 endif
 
 	#<z_down> = #6
-	#<z_lift> = [#6+#<td>*0.1]
+	#<z_lift> = [#6+#<td>*0.1] ; slight lift for repositioning moves
 
 	#<minx> = #1
 	#<maxx> = #3
@@ -60,10 +65,10 @@ o<pocket_rect> sub
 		#<maxy> = #2
 	o12 endif
 
-	#<cx> = [[#<minx>+#<maxx>]/2]
+	#<cx> = [[#<minx>+#<maxx>]/2]  ; pocket center X
-	#<cy> = [[#<miny>+#<maxy>]/2]
+	#<cy> = [[#<miny>+#<maxy>]/2]  ; pocket center Y
-	#<rx> = [[[#<maxx>-#<minx>]-#<td>]/2]
+	#<rx> = [[[#<maxx>-#<minx>]-#<td>]/2] ; half-width minus tool radius
-	#<ry> = [[[#<maxy>-#<miny>]-#<td>]/2]
+	#<ry> = [[[#<maxy>-#<miny>]-#<td>]/2] ; half-height minus tool radius
 
 	G0 X#<cx> Y#<cy>
 	G1 X[#<cx>+#<rx>] Y[#<cy>-#<ry>]
@@ -109,7 +114,7 @@ o<pocket_rect> sub
 
 	o100 endif
 
-	; do the spiral :)
+	; spiral outward from center until hitting pocket boundary
 	#<r_base> = #<r>
 	#<a_base> = #<a>
 	o105 while [1]
@@ -152,7 +157,7 @@ o<pocket_rect> sub
 
 	
 
-	o<xp> call
+	o<xp> call ; clear corners that the spiral couldn't reach
 
 
 
@@ -165,6 +170,8 @@ o<pocket_rect> endsub
 ; idea: bias the main spiral. then you're left with a section to hog out
 ; idea 2: make angle arbitrary (blowing up the code so it's not x-y specific). That'll be fun.
 
+; Helper sub: clears rectangular corner material left by circular spiral
+; Walks along the X-axis edge, tracing arcs that match the spiral boundary
 o<xp> sub
 		#<ix> = 0
 		#<lastxx> = 0
@@ -174,7 +181,7 @@ o<xp> sub
 			G0 X#<cx> Y[#<cy> - #<ry>]
 			G1 Z#<z_down>
 
-			#<n_end> = FUP[sqrt[[#<ix>]**2 + [#<ry>]**2]/#<stepover>]
+			#<n_end> = FUP[sqrt[[#<ix>]**2 + [#<ry>]**2]/#<stepover>] ; spiral revolution number at this corner point
 			#<a> = ATAN[-#<ry>]/[#<ix>]
 			#<r_end> = [#<n_end>*#<stepover> + #<r_base>+[#<a>-#<a_base>]/360*#<stepover>]
 			#<r> = [#<ry>]

nc_files/slot.ngc

@@ -1,3 +1,6 @@
+; Slot/obround cut - cuts a slot (stadium shape) between two endpoints
+; Params: #1=x1, #2=y1, #3=x2, #4=y2, #5=width, #6=ztop, #7=zbot, #8=fincut, #9=mode
+; Mode bitmask: bit0=conventional, bit1=bothways, bit2=plunge(vs helix), bit3=outside
 o<slot> sub
 	; o<slot> call [x1][y1] [x2][y2] [width] [ztop][zbot] [fincut] [mode]
 
@@ -24,20 +27,21 @@ o<slot> sub
 		#<z_clearance> = #5
 	o1 endif
 
-	#<a> = [ATAN[#4-#2]/[#3-#1]]
+	#<a> = [ATAN[#4-#2]/[#3-#1]] ; slot angle from p1 to p2
 		
 	G0 Z#<z_clearance>
 
 	G0 X#1 Y#2
 	G0 Z#6
-	G1 Z#7
+	G1 Z#7         ; plunge to cut depth
-	G1 X#3 Y#4
+	G1 X#3 Y#4     ; cut centerline of slot
 
 
-	#<r> = [[#5-#<_td>]/2]
+	#<r> = [[#5-#<_td>]/2] ; offset from centerline to slot edge (compensated for tool)
 
+	; Trace obround perimeter: two straights + two semicircles at each end
 	o100 if [#<M_CLIMB>]
-		o101 if [#8 GT 0]
+		o101 if [#8 GT 0] ; pre-finish pass offset inward by fincut
 		G1 X[#3 +[SIN[#<a>]*[#<r>-#8]]] Y[#4 -[COS[#<a>]*[#<r>-#8]]]			; point 1
 		G3 X[#3 -[SIN[#<a>]*[#<r>-#8]]] Y[#4 +[COS[#<a>]*[#<r>-#8]]] I#3 J#4  ; point 2
 		G1 X[#1 -[SIN[#<a>]*[#<r>-#8]]] Y[#2 +[COS[#<a>]*[#<r>-#8]]]          ; point 3

readme.md

@@ -1,28 +1,24 @@
 
 
 # TODO
-
-- [x] xyz dual loop pid setup
-- [x] enable signals wired
-- [x] enable signals programmed
-- [x] calibration of xyz
-- [x] tighten z bracket
-- [x] is there a btter way to do dual PID?
-- [x] wire front control panel
-- [x] get AXIS how I want it, or some other ui
-- [x] handwheel
-- [x] cable management
-
-
-- [ ] wire start/stop/estop/speed
-- [ ] gcode ftp or something
 - [ ] understand offsets better
 - [ ] understand toolchange better
 - [ ] pendant buttons
 - [ ] holders for wrenches etc
 - [ ] permanent good fix for z axis bracket
 
-# CAM
+# CAM options?
 https://www.scorchworks.com/Fengrave/fengrave.html
 https://www.estlcam.de/
 https://www.grzsoftware.com/
+
+# CLAUDE todos
+1. check out the macros in nc_files
+	A. Read and understand them
+	B. Generate a better MACROS.md
+	C. Comment the code (do not change/fix anything, just add terse comments, especially at the beginning of macros)
+	D. Search for bugs in the macros and add them to this document
+2. document and understand the lagun_gmoccapy config (this is the only active/relevant config)
+	A. Read and understand it
+	B. Generate better comments (do not change anything functionally, just add comments)
+	C. Generate a README.md