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  13  <h1>
  14      <a href="http://www.hungry.com/~pere/blog/">Petter Reinholdtsen</a>
  15
  16  </h1>
  17
  18 </div>
  19
  20
  21     <h3>Entries tagged "linuxcnc".</h3>
  22
  23     <div class="entry">
  24       <div class="title">
  25         <a href="http://www.hungry.com/~pere/blog/The_2025_LinuxCNC_Norwegian_developer_gathering.html">The 2025 LinuxCNC Norwegian developer gathering</a>
  26       </div>
  27       <div class="date">
  28         11th January 2025
  29       </div>
  30       <div class="body">
  31         <p><a href="https://linuxcnc.org/">The LinuxCNC project</a> is
  32 trotting along.  And I believe this great software system for
  33 numerical control of machines such as milling machines, lathes, plasma
  34 cutters, routers, cutting machines, robots and hexapods, would do even
  35 better with more in-person developer gatherings, so we plan to
  36 organise such gathering this summer too.</p>
  37
  38 <p>This year we would like to invite to a small LinuxCNC and free
  39 software fabrication workshop/gathering in Norway this summer for the
  40 weekend starting July 4th 2025.  New this year is the slightly larger
  41 scope, and we invite people also outside the LinuxCNC community to
  42 join.  As earlier, we suggest to organize it as an
  43 <a href="https://en.wikipedia.org/wiki/Unconference">unconference</a>,
  44 where the participants create the program upon arrival.</p>
  45
  46 <p>The location is a metal workshop 15 minutes drive away from to the
  47 Gardermoen airport (OSL), where there is a lot of space and a hotel only
  48 5 minutes away by car. We plan to fire up the barbeque in the evenings.</p>
  49
  50 <p>Please let us know if you would like to join.  We track the list of
  51 participants on <a href="https://pad.efn.no/p/linuxcnc-2025-norway">a
  52 simple pad</a>, please add yourself there if you are interested in joining.</p>
  53
  54 <p><a href="https://www.nuugfoundation.no/">The NUUG Foundation</a> has on
  55 our request offered to handle any money involved with this gathering,
  56 in other words holding any sponsor funds and paying any bills.
  57 NUUG Foundation is a spinnoff from the NUUG member organisation here
  58 in Norway with long ties to the free software and open standards
  59 communities.</p>
  60
  61 <p>As usual we hope to find sponsors to pay for food, lodging and travel.</p>
  62
  63 <p>As usual, if you use Bitcoin and want to show your support of my
  64 activities, please send Bitcoin donations to my address
  65 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
  66
  67       </div>
  68       <div class="tags">
  69
  70
  71         Tags: <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>.
  72
  73
  74       </div>
  75     </div>
  76     <div class="padding"></div>
  77
  78     <div class="entry">
  79       <div class="title">
  80         <a href="http://www.hungry.com/~pere/blog/Some_notes_from_the_2024_LinuxCNC_Norwegian_developer_gathering.html">Some notes from the 2024 LinuxCNC Norwegian developer gathering</a>
  81       </div>
  82       <div class="date">
  83         10th July 2024
  84       </div>
  85       <div class="body">
  86         <p>The Norwegian <a href="https://linuxcnc.org/">The LinuxCNC</a>
  87 developer gathering 2024 is over.  It was a great and productive
  88 weekend, and I am sad that it is over.</p>
  89
  90 <p>Regular readers probably still remember what LinuxCNC is, but her
  91 is a quick summary for those that forgot?  LinuxCNC is a free software
  92 system for numerical control of machines such as milling machines,
  93 lathes, plasma cutters, routers, cutting machines, robots and
  94 hexapods.  It eats G-code and produce motor movement and other changes
  95 to the physical world, while reading sensor input.</p>
  96
  97 <p>I am not quite sure about the total head count, as not all people
  98 were present at the gathering the entire weekend, but I believe it was
  99 close to 10 people showing their faces at the gathering.  The "hard
 100 core" of the group, who stayed the entire weekend, were two from
 101 Norway, two from Germany and one from England.  I am happy with the
 102 outcome from the gathering.  We managed to wrap up a new stable
 103 LinuxCNC release 2.9.3 and even tested it on real hardware within
 104 minutes of the release.  The release notes for 2.9.3 are still being
 105 written, but should show up on on the project site in the next few
 106 days.  We managed to go through around twenty pull requests and merge
 107 then into either the stable release (2.9) or the development branch
 108 (master).  There are still around thirty pull requests left to
 109 process, so we are not out of work yet.  We even managed to
 110 fix/improve a slightly worn lathe, and experiment with running a
 111 mechanical clock using G-code.</p>
 112
 113 <p>The evening barbeque worked well both on Saturday and Sunday.  It
 114 is quite fun to light up a charcoal grill using compressed air.  Sadly
 115 the weather was not the best, so we stayed indoors most of the
 116 time.</p>
 117
 118 <p>This gathering was made possible partly with sponsoring from both
 119 <a href="https://www.redpill-linpro.com/">Redpill Linpro</a>,
 120 <a href="https://debian.org/">Debian</a> and
 121 <a href="https://nuugfoundation.no/">NUUG Foundation</a>, and we are
 122 most grateful for the support.  I would also like to thank the local
 123 school for lending us some furniture, and of course the rest of the
 124 members of the organizers team, Asle and Bosse, for their countless
 125 contributions.  The gathering was such success that we want to do it
 126 again next year.</p>
 127
 128 <p>We plan to organize the next Norwegian LinuxCNC developer gathering
 129 at the end of June next year, the weekend Friday 27th to Sunday 29th
 130 of June 2025.  I recommend you reserve the dates on your calendar
 131 today.  Other related communities are also welcome to join in, for
 132 example those working on systems like FreeCAD and opencamlib, as I am
 133 sure we have much in common and sharing experiences would be very
 134 useful to all involved.  We are of course looking for sponsors for
 135 this gathering already.  The total budget for this gathering was
 136 around NOK 25.000 (around EUR 2.300), so our needs are quite modest.
 137 Perhaps a machine or tools company would like to help out the free
 138 software manufacturing community by sponsoring food, lodging and
 139 transport for such gathering?</p>
 140
 141       </div>
 142       <div class="tags">
 143
 144
 145         Tags: <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>.
 146
 147
 148       </div>
 149     </div>
 150     <div class="padding"></div>
 151
 152     <div class="entry">
 153       <div class="title">
 154         <a href="http://www.hungry.com/~pere/blog/The_2024_LinuxCNC_Norwegian_developer_gathering.html">The 2024 LinuxCNC Norwegian developer gathering</a>
 155       </div>
 156       <div class="date">
 157         31st May 2024
 158       </div>
 159       <div class="body">
 160         <p><a href="https://linuxcnc.org/">The LinuxCNC project</a> is still
 161 going strong.  And I believe this great software system for numerical control of
 162 machines such as milling machines, lathes, plasma cutters, routers,
 163 cutting machines, robots and hexapods, would do even better with more
 164 in-person developer gatherings, so we plan to organise such gathering
 165 this summer too.</p>
 166
 167 <p>The Norwegian LinuxCNC developer gathering take place the weekend
 168 Friday July 5th to 7th this year, and is open for everyone interested
 169 in contributing to LinuxCNC and free software manufacturing.  Up to
 170 date information about the gathering can be found in
 171 <a href="https://sourceforge.net/p/emc/mailman/emc-developers/thread/123eaae0-f3b9-4170-a251-b7d608f1e974%40bofh.no/">the
 172 developer mailing list thread</a> where the gathering was announced.
 173 Thanks to the good people at
 174
 175 <a href="https://www.debian.org/">Debian</a> as well as leftover money
 176 from last years gathering from
 177 <a href="https://www.redpill-linpro.com/">Redpill-Linpro</a> and
 178 <a href="https://www.nuugfoundation.no/no/">NUUG Foundation</a>, we
 179 have enough sponsor funds to pay for food, and probably also shelter
 180 for the people traveling from afar to join us.  If you would like to
 181 join the gathering, get in touch and add your details on
 182 <a href="https://pad.efn.no/p/linuxcnc-2024-norway">the pad</a>.</p>
 183
 184 <p>As usual, if you use Bitcoin and want to show your support of my
 185 activities, please send Bitcoin donations to my address
 186 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 187
 188       </div>
 189       <div class="tags">
 190
 191
 192         Tags: <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>.
 193
 194
 195       </div>
 196     </div>
 197     <div class="padding"></div>
 198
 199     <div class="entry">
 200       <div class="title">
 201         <a href="http://www.hungry.com/~pere/blog/The_2023_LinuxCNC_Norwegian_developer_gathering.html">The 2023 LinuxCNC Norwegian developer gathering</a>
 202       </div>
 203       <div class="date">
 204         14th May 2023
 205       </div>
 206       <div class="body">
 207         <p>The LinuxCNC project is making headway these days.  A lot of
 208 patches and issues have seen activity on
 209 <a href="https://github.com/LinuxCNC/linuxcnc/">the project github
 210 pages</a> recently.  A few weeks ago there was a developer gathering
 211 over at the <a href="https://tormach.com/">Tormach</a> headquarter in
 212 Wisconsin, and now we are planning a new gathering in Norway.  If you
 213 wonder what LinuxCNC is, lets quote Wikipedia:</p>
 214
 215 <blockquote>
 216 "LinuxCNC is a software system for numerical control of
 217 machines such as milling machines, lathes, plasma cutters, routers,
 218 cutting machines, robots and hexapods. It can control up to 9 axes or
 219 joints of a CNC machine using G-code (RS-274NGC) as input. It has
 220 several GUIs suited to specific kinds of usage (touch screen,
 221 interactive development)."
 222 </blockquote>
 223
 224 <p>The Norwegian developer gathering take place the weekend June 16th
 225 to 18th this year, and is open for everyone interested in contributing
 226 to LinuxCNC.  Up to date information about the gathering can be found
 227 in
 228 <a href="https://sourceforge.net/p/emc/mailman/emc-developers/thread/sa64jp06nob.fsf%40hjemme.reinholdtsen.name/#msg37837251">the
 229 developer mailing list thread</a> where the gathering was announced.
 230 Thanks to the good people at
 231 <a href="https://www.debian.org/">Debian</a>,
 232 <a href="https://www.redpill-linpro.com/">Redpill-Linpro</a> and
 233 <a href="https://www.nuugfoundation.no/no/">NUUG Foundation</a>, we
 234 have enough sponsor funds to pay for food, and shelter for the people
 235 traveling from afar to join us.  If you would like to join the
 236 gathering, get in touch.</p>
 237
 238 <p>As usual, if you use Bitcoin and want to show your support of my
 239 activities, please send Bitcoin donations to my address
 240 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 241
 242       </div>
 243       <div class="tags">
 244
 245
 246         Tags: <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>.
 247
 248
 249       </div>
 250     </div>
 251     <div class="padding"></div>
 252
 253     <div class="entry">
 254       <div class="title">
 255         <a href="http://www.hungry.com/~pere/blog/LinuxCNC_MQTT_publisher_component.html">LinuxCNC MQTT publisher component</a>
 256       </div>
 257       <div class="date">
 258          8th January 2023
 259       </div>
 260       <div class="body">
 261         <p>I watched <a href="https://yewtu.be/watch?v=jmKUV3aNLjk">a 2015
 262 video from Andreas Schiffler</a> the other day, where he set up
 263 <a href="https://linuxcnc.org/">LinuxCNC</a> to send status
 264 information to the MQTT broker IBM Bluemix.  As I also use MQTT for
 265 graphing, it occured to me that a generic MQTT LinuxCNC component
 266 would be useful and I set out to implement it.  Today I got the first
 267 draft limping along and submitted as
 268 <a href="https://github.com/LinuxCNC/linuxcnc/pull/2253">a patch to the
 269 LinuxCNC project</a>.</p>
 270
 271 <p>The simple part was setting up the MQTT publishing code in Python.
 272 I already have set up other parts submitting data to my Mosquito MQTT
 273 broker, so I could reuse that code.  Writing a LinuxCNC component in
 274 Python as new to me, but using existing examples in the code
 275 repository and the extensive documentation, this was fairly straight
 276 forward.  The hardest part was creating a automated test for the
 277 component to ensure it was working.  Testing it in a simulated
 278 LinuxCNC machine proved very useful, as I discovered features I needed
 279 that I had not thought of yet, and adjusted the code quite a bit to
 280 make it easier to test without a operational MQTT broker
 281 available.</p>
 282
 283 <p>The draft is ready and working, but I am unsure which LinuxCNC HAL
 284 pins I should collect and publish by default (in other words, the
 285 default set of information pieces published), and how to get the
 286 machine name from the LinuxCNC INI file.  The latter is a minor
 287 detail, but I expect it would be useful in a setup with several
 288 machines available.  I am hoping for feedback from the experienced
 289 LinuxCNC developers and users, to make the component even better
 290 before it can go into the mainland LinuxCNC code base.</p>
 291
 292 <p>Since I started on the MQTT component, I came across
 293 <a href="https://yewtu.be/watch?v=Bqa2grG0XtA">another video from Kent
 294 VanderVelden</a> where he combine LinuxCNC with a set of screen glasses
 295 controlled by a Raspberry Pi, and it occured to me that it would
 296 be useful for such use cases if LinuxCNC also provided a REST API for
 297 querying its status.  I hope to start on such component once the MQTT
 298 component is working well.</p>
 299
 300 <p>As usual, if you use Bitcoin and want to show your support of my
 301 activities, please send Bitcoin donations to my address
 302 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 303
 304       </div>
 305       <div class="tags">
 306
 307
 308         Tags: <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="http://www.hungry.com/~pere/blog/tags/robot">robot</a>.
 309
 310
 311       </div>
 312     </div>
 313     <div class="padding"></div>
 314
 315     <div class="entry">
 316       <div class="title">
 317         <a href="http://www.hungry.com/~pere/blog/Automatic_LinuxCNC_servo_PID_tuning_.html">Automatic LinuxCNC servo PID tuning?</a>
 318       </div>
 319       <div class="date">
 320         16th July 2022
 321       </div>
 322       <div class="body">
 323         <p>While working on a CNC with servo motors controlled by the
 324 <a href="https://en.wikipedia.org/wiki/LinuxCNC">LinuxCNC</a>
 325 <a href="https://en.wikipedia.org/wiki/PID_controller">PID
 326 controller</a>, I recently had to learn how to tune the collection of values
 327 that control such mathematical machinery that a PID controller is.  It
 328 proved to be a lot harder than I hoped, and I still have not succeeded
 329 in getting the Z PID controller to successfully defy gravity, nor X
 330 and Y to move accurately and reliably.  But while climbing up this
 331 rather steep learning curve, I discovered that some motor control
 332 systems are able to tune their PID controllers.  I got the impression
 333 from the documentation that LinuxCNC were not.  This proved to be not
 334 true.</p>
 335
 336 <p>The LinuxCNC
 337 <a href="http://linuxcnc.org/docs/html/man/man9/pid.9.html">pid
 338 component</a> is the recommended PID controller to use.  It uses eight
 339 constants <tt>Pgain</tt>, <tt>Igain</tt>, <tt>Dgain</tt>,
 340 <tt>bias</tt>, <tt>FF0</tt>, <tt>FF1</tt>, <tt>FF2</tt> and
 341 <tt>FF3</tt> to calculate the output value based on current and wanted
 342 state, and all of these need to have a sensible value for the
 343 controller to behave properly.  Note, there are even more values
 344 involved, theser are just the most important ones.  In my case I need
 345 the X, Y and Z axes to follow the requested path with little error.
 346 This has proved quite a challenge for someone who have never tuned a
 347 PID controller before, but there is at least some help to be found.
 348
 349 <p>I discovered that included in LinuxCNC was this old PID component
 350 at_pid claiming to have auto tuning capabilities.  Sadly it had been
 351 neglected since 2011, and could not be used as a plug in replacement
 352 for the default pid component.  One would have to rewriting the
 353 LinuxCNC HAL setup to test at_pid.  This was rather sad, when I wanted
 354 to quickly test auto tuning to see if it did a better job than me at
 355 figuring out good P, I and D values to use.</p>
 356
 357 <p>I decided to have a look if the situation could be improved.  This
 358 involved trying to understand the code and history of the pid and
 359 at_pid components.  Apparently they had a common ancestor, as code
 360 structure, comments and variable names were quite close to each other.
 361 Sadly this was not reflected in the git history, making it hard to
 362 figure out what really happened.  My guess is that the author of
 363 <a href="https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/at_pid.c">at_pid.c</a>
 364 took a version of
 365 <a href="https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/pid.c">pid.c</a>,
 366 rewrote it to follow the structure he wished pid.c to have, then added
 367 support for auto tuning and finally got it included into the LinuxCNC
 368 repository.  The restructuring and lack of early history made it
 369 harder to figure out which part of the code were relevant to the auto
 370 tuning, and which part of the code needed to be updated to work the
 371 same way as the current pid.c implementation.  I started by trying to
 372 isolate relevant changes in pid.c, and applying them to at_pid.c.  My
 373 aim was to make sure the at_pid component could replace the pid
 374 component with a simple change in the HAL setup loadrt line, without
 375 having to "rewire" the rest of the HAL configuration.  After a few
 376 hours following this approach, I had learned quite a lot about the
 377 code structure of both components, while concluding I was heading down
 378 the wrong rabbit hole, and should get back to the surface and find a
 379 different path.</p>
 380
 381 <p>For the second attempt, I decided to throw away all the PID control
 382 related part of the original at_pid.c, and instead isolate and lift
 383 the auto tuning part of the code and inject it into a copy of pid.c.
 384 This ensured compatibility with the current pid component, while
 385 adding auto tuning as a run time option.  To make it easier to identify
 386 the relevant parts in the future, I wrapped all the auto tuning code
 387 with '#ifdef AUTO_TUNER'.  The end result behave just like the current
 388 pid component by default, as that part of the code is identical.  The
 389 <a href="https://github.com/LinuxCNC/linuxcnc/pull/1820">end result
 390 entered the LinuxCNC master branch</a> a few days ago.</p>
 391
 392 <p>To enable auto tuning, one need to set a few HAL pins in the PID
 393 component.  The most important ones are <tt>tune-effort</tt>,
 394 <tt>tune-mode</tt> and <tt>tune-start</tt>.  But lets take a step
 395 back, and see what the auto tuning code will do.  I do not know the
 396 mathematical foundation of the at_pid algorithm, but from observation
 397 I can tell that the algorithm will, when enabled, produce a square
 398 wave pattern centered around the <tt>bias</tt> value on the output pin
 399 of the PID controller.  This can be seen using the HAL Scope provided
 400 by LinuxCNC.  In my case, this is translated into voltage (+-10V) sent
 401 to the motor controller, which in turn is translated into motor speed.
 402 So at_pid will ask the motor to move the axis back and forth.  The
 403 number of cycles in the pattern is controlled by the
 404 <tt>tune-cycles</tt> pin, and the extremes of the wave pattern is
 405 controlled by the <tt>tune-effort</tt> pin.  Of course, trying to
 406 change the direction of a physical object instantly (as in going
 407 directly from a positive voltage to the equivalent negative voltage)
 408 do not change velocity instantly, and it take some time for the object
 409 to slow down and move in the opposite direction.  This result in a
 410 more smooth movement wave form, as the axis in question were vibrating
 411 back and forth.  When the axis reached the target speed in the
 412 opposing direction, the auto tuner change direction again.  After
 413 several of these changes, the average time delay between the 'peaks'
 414 and 'valleys' of this movement graph is then used to calculate
 415 proposed values for Pgain, Igain and Dgain, and insert them into the
 416 HAL model to use by the pid controller.  The auto tuned settings are
 417 not great, but htye work a lot better than the values I had been able
 418 to cook up on my own, at least for the horizontal X and Y axis.  But I
 419 had to use very small <tt>tune-effort<tt> values, as my motor
 420 controllers error out if the voltage change too quickly.  I've been
 421 less lucky with the Z axis, which is moving a heavy object up and
 422 down, and seem to confuse the algorithm.  The Z axis movement became a
 423 lot better when I introduced a <tt>bias</tt> value to counter the
 424 gravitational drag, but I will have to work a lot more on the Z axis
 425 PID values.</p>
 426
 427 <p>Armed with this knowledge, it is time to look at how to do the
 428 tuning.  Lets say the HAL configuration in question load the PID
 429 component for X, Y and Z like this:</p>
 430
 431 <blockquote><pre>
 432 loadrt pid names=pid.x,pid.y,pid.z
 433 </pre></blockquote>
 434
 435 <p>Armed with the new and improved at_pid component, the new line will
 436 look like this:</p>
 437
 438 <blockquote><pre>
 439 loadrt at_pid names=pid.x,pid.y,pid.z
 440 </pre></blockquote>
 441
 442 <p>The rest of the HAL setup can stay the same.  This work because the
 443 components are referenced by name.  If the component had used count=3
 444 instead, all use of pid.# had to be changed to at_pid.#.</p>
 445
 446 <p>To start tuning the X axis, move the axis to the middle of its
 447 range, to make sure it do not hit anything when it start moving back
 448 and forth.  Next, set the <tt>tune-effort</tt> to a low number in the
 449 output range.  I used 0.1 as my initial value.  Next, assign 1 to the
 450 <tt>tune-mode</tt> value. Note, this will disable the pid controlling
 451 part and feed 0 to the output pin, which in my case initially caused a
 452 lot of drift.  In my case it proved to be a good idea with X and Y to
 453 tune the motor driver to make sure 0 voltage stopped the motor
 454 rotation.  On the other hand, for the Z axis this proved to be a bad
 455 idea, so it will depend on your setup.  It might help to set the
 456 <tt>bias</tt> value to a output value that reduce or eliminate the
 457 axis drift.  Finally, after setting <tt>tune-mode</tt>, set
 458 <tt>tune-start</tt> to 1 to activate the auto tuning.  If all go well,
 459 your axis will vibrate for a few seconds and when it is done, new
 460 values for Pgain, Igain and Dgain will be active.  To test them,
 461 change <tt>tune-mode</tt> back to 0.  Note that this might cause the
 462 machine to suddenly jerk as it bring the axis back to its commanded
 463 position, which it might have drifted away from during tuning.  To
 464 summarize with some halcmd lines:</p>
 465
 466 <blockquote><pre>
 467 setp pid.x.tune-effort 0.1
 468 setp pid.x.tune-mode 1
 469 setp pid.x.tune-start 1
 470 # wait for the tuning to complete
 471 setp pid.x.tune-mode 0
 472 </pre></blockquote>
 473
 474 <p>After doing this task quite a few times while trying to figure out
 475 how to properly tune the PID controllers on the machine in, I decided
 476 to figure out if this process could be automated, and wrote a script
 477 to do the entire tuning process from power on.  The end result will
 478 ensure the machine is powered on and ready to run, home all axis if it
 479 is not already done, check that the extra tuning pins are available,
 480 move the axis to its mid point, run the auto tuning and re-enable the
 481 pid controller when it is done.  It can be run several times.  Check
 482 out the
 483 <a href="https://github.com/SebKuzminsky/MazakVQC1540/blob/bon-dev/scripts/run-auto-pid-tuner">run-auto-pid-tuner</a>
 484 script on github if you want to learn how it is done.</p>
 485
 486 <p>My hope is that this little adventure can inspire someone who know
 487 more about motor PID controller tuning can implement even better
 488 algorithms for automatic PID tuning in LinuxCNC, making life easier
 489 for both me and all the others that want to use LinuxCNC but lack the
 490 in depth knowledge needed to tune PID controllers well.</p>
 491
 492 <p>As usual, if you use Bitcoin and want to show your support of my
 493 activities, please send Bitcoin donations to my address
 494 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 495
 496       </div>
 497       <div class="tags">
 498
 499
 500         Tags: <a href="http://www.hungry.com/~pere/blog/tags/3d-printer">3d-printer</a>, <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="http://www.hungry.com/~pere/blog/tags/robot">robot</a>.
 501
 502
 503       </div>
 504     </div>
 505     <div class="padding"></div>
 506
 507     <div class="entry">
 508       <div class="title">
 509         <a href="http://www.hungry.com/~pere/blog/LinuxCNC_translators_life_just_got_a_bit_easier.html">LinuxCNC translators life just got a bit easier</a>
 510       </div>
 511       <div class="date">
 512          3rd June 2022
 513       </div>
 514       <div class="body">
 515         <p>Back in oktober last year, when I started looking at the
 516 <a href="https://en.wikipedia.org/wiki/LinuxCNC">LinuxCNC</a> system, I
 517 proposed to change the documentation build system make life easier for
 518 translators.  The original system consisted of independently written
 519 documentation files for each language, with no automated way to track
 520 changes done in other translations and no help for the translators to
 521 know how much was left to translated.  By using
 522 <a href="https://po4a.org/">the po4a system</a> to generate POT and PO
 523 files from the English documentation, this can be improved.  A small
 524 team of LinuxCNC contributors got together and today our labour
 525 finally payed off.  Since a few hours ago, it is now possible to
 526 translate <a href="https://hosted.weblate.org/projects/linuxcnc/">the
 527 LinuxCNC documentation on Weblate</a>, alongside the program itself.</p>
 528
 529 <p>The effort to migrate the documentation to use po4a has been both
 530 slow and frustrating.  I am very happy we finally made it.</p>
 531
 532 <p>As usual, if you use Bitcoin and want to show your support of my
 533 activities, please send Bitcoin donations to my address
 534 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 535
 536       </div>
 537       <div class="tags">
 538
 539
 540         Tags: <a href="http://www.hungry.com/~pere/blog/tags/3d-printer">3d-printer</a>, <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="http://www.hungry.com/~pere/blog/tags/robot">robot</a>.
 541
 542
 543       </div>
 544     </div>
 545     <div class="padding"></div>
 546
 547     <div class="entry">
 548       <div class="title">
 549         <a href="http://www.hungry.com/~pere/blog/Run_your_industrial_metal_working_machine_using_Debian_.html">Run your industrial metal working machine using Debian?</a>
 550       </div>
 551       <div class="date">
 552          2nd March 2022
 553       </div>
 554       <div class="body">
 555         <p>After many months of hard work by the good people involved in
 556 <a href="https://en.wikipedia.org/wiki/LinuxCNC">LinuxCNC</a>, the
 557 system was accepted Sunday
 558 <a href="https://tracker.debian.org/pkg/linuxcnc">into Debian</a>.
 559 Once it was available from Debian, I was surprised to discover from
 560 <a href="https://qa.debian.org/popcon.php?package=linuxcnc">its
 561 popularity-contest numbers</a> that people have been reporting its use
 562 since 2012.  <a href="http://linuxcnc.org/">Its project site</a> might
 563 be a good place to check out, but sadly is not working when visiting
 564 via Tor.</p>
 565
 566 <p>But what is LinuxCNC, you are probably wondering?  Perhaps a
 567 Wikipedia quote is in place?</p>
 568
 569 <blockquote>
 570 "LinuxCNC is a software system for numerical control of
 571 machines such as milling machines, lathes, plasma cutters, routers,
 572 cutting machines, robots and hexapods. It can control up to 9 axes or
 573 joints of a CNC machine using G-code (RS-274NGC) as input. It has
 574 several GUIs suited to specific kinds of usage (touch screen,
 575 interactive development)."
 576 </blockquote>
 577
 578 <p>It can even control 3D printers.  And even though the Wikipedia
 579 page indicate that it can only work with hard real time kernel
 580 features, it can also work with the user space soft real time features
 581 provided by the Debian kernel.
 582 <a href="https://github.com/linuxcnc/linuxcnc">The source code</a> is
 583 available from Github.  The last few months I've been involved in the
 584 translation setup for the program and documentation.  Translators are
 585 most welcome to
 586 <a href="https://hosted.weblate.org/engage/linuxcnc/">join the
 587 effort</a> using Weblate.</p>
 588
 589 <p>As usual, if you use Bitcoin and want to show your support of my
 590 activities, please send Bitcoin donations to my address
 591 <b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
 592
 593       </div>
 594       <div class="tags">
 595
 596
 597         Tags: <a href="http://www.hungry.com/~pere/blog/tags/3d-printer">3d-printer</a>, <a href="http://www.hungry.com/~pere/blog/tags/debian">debian</a>, <a href="http://www.hungry.com/~pere/blog/tags/english">english</a>, <a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc</a>, <a href="http://www.hungry.com/~pere/blog/tags/robot">robot</a>.
 598
 599
 600       </div>
 601     </div>
 602     <div class="padding"></div>
 603
 604     <p style="text-align: right;"><a href="linuxcnc.rss"><img src="http://www.hungry.com/~pere/blog/xml.gif" alt="RSS Feed" width="36" height="14" /></a></p>
 605     <div id="sidebar">
 606
 607
 608
 609 <h2>Archive</h2>
 610 <ul>
 611
 612 <li>2025
 613 <ul>
 614
 615 <li><a href="http://www.hungry.com/~pere/blog/archive/2025/01/">January (4)</a></li>
 616
 617 </ul></li>
 618
 619 <li>2024
 620 <ul>
 621
 622 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/01/">January (1)</a></li>
 623
 624 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/02/">February (1)</a></li>
 625
 626 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/03/">March (2)</a></li>
 627
 628 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/04/">April (3)</a></li>
 629
 630 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/05/">May (1)</a></li>
 631
 632 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/06/">June (1)</a></li>
 633
 634 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/07/">July (2)</a></li>
 635
 636 <li><a href="http://www.hungry.com/~pere/blog/archive/2024/12/">December (1)</a></li>
 637
 638 </ul></li>
 639
 640 <li>2023
 641 <ul>
 642
 643 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/01/">January (3)</a></li>
 644
 645 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/02/">February (1)</a></li>
 646
 647 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/04/">April (2)</a></li>
 648
 649 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/05/">May (3)</a></li>
 650
 651 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/06/">June (1)</a></li>
 652
 653 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/08/">August (1)</a></li>
 654
 655 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/09/">September (1)</a></li>
 656
 657 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/10/">October (1)</a></li>
 658
 659 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/11/">November (4)</a></li>
 660
 661 <li><a href="http://www.hungry.com/~pere/blog/archive/2023/12/">December (1)</a></li>
 662
 663 </ul></li>
 664
 665 <li>2022
 666 <ul>
 667
 668 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/02/">February (1)</a></li>
 669
 670 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/03/">March (3)</a></li>
 671
 672 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/04/">April (2)</a></li>
 673
 674 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/06/">June (2)</a></li>
 675
 676 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/07/">July (1)</a></li>
 677
 678 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/09/">September (1)</a></li>
 679
 680 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/10/">October (1)</a></li>
 681
 682 <li><a href="http://www.hungry.com/~pere/blog/archive/2022/12/">December (1)</a></li>
 683
 684 </ul></li>
 685
 686 <li>2021
 687 <ul>
 688
 689 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/01/">January (2)</a></li>
 690
 691 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/02/">February (1)</a></li>
 692
 693 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/05/">May (1)</a></li>
 694
 695 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/06/">June (1)</a></li>
 696
 697 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/07/">July (3)</a></li>
 698
 699 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/08/">August (1)</a></li>
 700
 701 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/09/">September (1)</a></li>
 702
 703 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/10/">October (1)</a></li>
 704
 705 <li><a href="http://www.hungry.com/~pere/blog/archive/2021/12/">December (1)</a></li>
 706
 707 </ul></li>
 708
 709 <li>2020
 710 <ul>
 711
 712 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/02/">February (2)</a></li>
 713
 714 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/03/">March (2)</a></li>
 715
 716 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/04/">April (2)</a></li>
 717
 718 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/05/">May (3)</a></li>
 719
 720 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/06/">June (2)</a></li>
 721
 722 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/07/">July (1)</a></li>
 723
 724 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/09/">September (1)</a></li>
 725
 726 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/10/">October (1)</a></li>
 727
 728 <li><a href="http://www.hungry.com/~pere/blog/archive/2020/11/">November (1)</a></li>
 729
 730 </ul></li>
 731
 732 <li>2019
 733 <ul>
 734
 735 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/01/">January (4)</a></li>
 736
 737 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/02/">February (3)</a></li>
 738
 739 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/03/">March (3)</a></li>
 740
 741 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/05/">May (2)</a></li>
 742
 743 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/06/">June (5)</a></li>
 744
 745 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/07/">July (2)</a></li>
 746
 747 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/08/">August (1)</a></li>
 748
 749 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/09/">September (1)</a></li>
 750
 751 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/11/">November (1)</a></li>
 752
 753 <li><a href="http://www.hungry.com/~pere/blog/archive/2019/12/">December (4)</a></li>
 754
 755 </ul></li>
 756
 757 <li>2018
 758 <ul>
 759
 760 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/01/">January (1)</a></li>
 761
 762 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/02/">February (5)</a></li>
 763
 764 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/03/">March (5)</a></li>
 765
 766 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/04/">April (3)</a></li>
 767
 768 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/06/">June (2)</a></li>
 769
 770 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/07/">July (5)</a></li>
 771
 772 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/08/">August (3)</a></li>
 773
 774 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/09/">September (3)</a></li>
 775
 776 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/10/">October (5)</a></li>
 777
 778 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/11/">November (2)</a></li>
 779
 780 <li><a href="http://www.hungry.com/~pere/blog/archive/2018/12/">December (4)</a></li>
 781
 782 </ul></li>
 783
 784 <li>2017
 785 <ul>
 786
 787 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/01/">January (4)</a></li>
 788
 789 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/02/">February (3)</a></li>
 790
 791 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/03/">March (5)</a></li>
 792
 793 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/04/">April (2)</a></li>
 794
 795 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/06/">June (5)</a></li>
 796
 797 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/07/">July (1)</a></li>
 798
 799 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/08/">August (1)</a></li>
 800
 801 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/09/">September (3)</a></li>
 802
 803 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/10/">October (5)</a></li>
 804
 805 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/11/">November (3)</a></li>
 806
 807 <li><a href="http://www.hungry.com/~pere/blog/archive/2017/12/">December (4)</a></li>
 808
 809 </ul></li>
 810
 811 <li>2016
 812 <ul>
 813
 814 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/01/">January (3)</a></li>
 815
 816 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/02/">February (2)</a></li>
 817
 818 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/03/">March (3)</a></li>
 819
 820 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/04/">April (8)</a></li>
 821
 822 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/05/">May (8)</a></li>
 823
 824 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/06/">June (2)</a></li>
 825
 826 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/07/">July (2)</a></li>
 827
 828 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/08/">August (5)</a></li>
 829
 830 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/09/">September (2)</a></li>
 831
 832 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/10/">October (3)</a></li>
 833
 834 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/11/">November (8)</a></li>
 835
 836 <li><a href="http://www.hungry.com/~pere/blog/archive/2016/12/">December (5)</a></li>
 837
 838 </ul></li>
 839
 840 <li>2015
 841 <ul>
 842
 843 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/01/">January (7)</a></li>
 844
 845 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/02/">February (6)</a></li>
 846
 847 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/03/">March (1)</a></li>
 848
 849 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/04/">April (4)</a></li>
 850
 851 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/05/">May (3)</a></li>
 852
 853 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/06/">June (4)</a></li>
 854
 855 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/07/">July (6)</a></li>
 856
 857 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/08/">August (2)</a></li>
 858
 859 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/09/">September (2)</a></li>
 860
 861 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/10/">October (9)</a></li>
 862
 863 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/11/">November (6)</a></li>
 864
 865 <li><a href="http://www.hungry.com/~pere/blog/archive/2015/12/">December (3)</a></li>
 866
 867 </ul></li>
 868
 869 <li>2014
 870 <ul>
 871
 872 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/01/">January (2)</a></li>
 873
 874 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/02/">February (3)</a></li>
 875
 876 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/03/">March (8)</a></li>
 877
 878 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/04/">April (7)</a></li>
 879
 880 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/05/">May (1)</a></li>
 881
 882 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/06/">June (2)</a></li>
 883
 884 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/07/">July (2)</a></li>
 885
 886 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/08/">August (2)</a></li>
 887
 888 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/09/">September (5)</a></li>
 889
 890 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/10/">October (6)</a></li>
 891
 892 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/11/">November (3)</a></li>
 893
 894 <li><a href="http://www.hungry.com/~pere/blog/archive/2014/12/">December (5)</a></li>
 895
 896 </ul></li>
 897
 898 <li>2013
 899 <ul>
 900
 901 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/01/">January (11)</a></li>
 902
 903 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/02/">February (9)</a></li>
 904
 905 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/03/">March (9)</a></li>
 906
 907 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/04/">April (6)</a></li>
 908
 909 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/05/">May (9)</a></li>
 910
 911 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/06/">June (10)</a></li>
 912
 913 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/07/">July (7)</a></li>
 914
 915 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/08/">August (3)</a></li>
 916
 917 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/09/">September (5)</a></li>
 918
 919 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/10/">October (7)</a></li>
 920
 921 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/11/">November (9)</a></li>
 922
 923 <li><a href="http://www.hungry.com/~pere/blog/archive/2013/12/">December (3)</a></li>
 924
 925 </ul></li>
 926
 927 <li>2012
 928 <ul>
 929
 930 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/01/">January (7)</a></li>
 931
 932 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/02/">February (10)</a></li>
 933
 934 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/03/">March (17)</a></li>
 935
 936 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/04/">April (12)</a></li>
 937
 938 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/05/">May (12)</a></li>
 939
 940 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/06/">June (20)</a></li>
 941
 942 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/07/">July (17)</a></li>
 943
 944 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/08/">August (6)</a></li>
 945
 946 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/09/">September (9)</a></li>
 947
 948 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/10/">October (17)</a></li>
 949
 950 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/11/">November (10)</a></li>
 951
 952 <li><a href="http://www.hungry.com/~pere/blog/archive/2012/12/">December (7)</a></li>
 953
 954 </ul></li>
 955
 956 <li>2011
 957 <ul>
 958
 959 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/01/">January (16)</a></li>
 960
 961 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/02/">February (6)</a></li>
 962
 963 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/03/">March (6)</a></li>
 964
 965 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/04/">April (7)</a></li>
 966
 967 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/05/">May (3)</a></li>
 968
 969 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/06/">June (2)</a></li>
 970
 971 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/07/">July (7)</a></li>
 972
 973 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/08/">August (6)</a></li>
 974
 975 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/09/">September (4)</a></li>
 976
 977 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/10/">October (2)</a></li>
 978
 979 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/11/">November (3)</a></li>
 980
 981 <li><a href="http://www.hungry.com/~pere/blog/archive/2011/12/">December (1)</a></li>
 982
 983 </ul></li>
 984
 985 <li>2010
 986 <ul>
 987
 988 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/01/">January (2)</a></li>
 989
 990 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/02/">February (1)</a></li>
 991
 992 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/03/">March (3)</a></li>
 993
 994 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/04/">April (3)</a></li>
 995
 996 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/05/">May (9)</a></li>
 997
 998 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/06/">June (14)</a></li>
 999
1000 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/07/">July (12)</a></li>
1001
1002 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/08/">August (13)</a></li>
1003
1004 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/09/">September (7)</a></li>
1005
1006 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/10/">October (9)</a></li>
1007
1008 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/11/">November (13)</a></li>
1009
1010 <li><a href="http://www.hungry.com/~pere/blog/archive/2010/12/">December (12)</a></li>
1011
1012 </ul></li>
1013
1014 <li>2009
1015 <ul>
1016
1017 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/01/">January (8)</a></li>
1018
1019 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/02/">February (8)</a></li>
1020
1021 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/03/">March (12)</a></li>
1022
1023 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/04/">April (10)</a></li>
1024
1025 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/05/">May (9)</a></li>
1026
1027 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/06/">June (3)</a></li>
1028
1029 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/07/">July (4)</a></li>
1030
1031 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/08/">August (3)</a></li>
1032
1033 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/09/">September (1)</a></li>
1034
1035 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/10/">October (2)</a></li>
1036
1037 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/11/">November (3)</a></li>
1038
1039 <li><a href="http://www.hungry.com/~pere/blog/archive/2009/12/">December (3)</a></li>
1040
1041 </ul></li>
1042
1043 <li>2008
1044 <ul>
1045
1046 <li><a href="http://www.hungry.com/~pere/blog/archive/2008/11/">November (5)</a></li>
1047
1048 <li><a href="http://www.hungry.com/~pere/blog/archive/2008/12/">December (7)</a></li>
1049
1050 </ul></li>
1051
1052 </ul>
1053
1054
1055
1056 <h2>Tags</h2>
1057 <ul>
1058
1059  <li><a href="http://www.hungry.com/~pere/blog/tags/3d-printer">3d-printer (19)</a></li>
1060
1061  <li><a href="http://www.hungry.com/~pere/blog/tags/amiga">amiga (1)</a></li>
1062
1063  <li><a href="http://www.hungry.com/~pere/blog/tags/aros">aros (1)</a></li>
1064
1065  <li><a href="http://www.hungry.com/~pere/blog/tags/bankid">bankid (4)</a></li>
1066
1067  <li><a href="http://www.hungry.com/~pere/blog/tags/betalkontant">betalkontant (9)</a></li>
1068
1069  <li><a href="http://www.hungry.com/~pere/blog/tags/bitcoin">bitcoin (13)</a></li>
1070
1071  <li><a href="http://www.hungry.com/~pere/blog/tags/bootsystem">bootsystem (17)</a></li>
1072
1073  <li><a href="http://www.hungry.com/~pere/blog/tags/bsa">bsa (2)</a></li>
1074
1075  <li><a href="http://www.hungry.com/~pere/blog/tags/chrpath">chrpath (3)</a></li>
1076
1077  <li><a href="http://www.hungry.com/~pere/blog/tags/debian">debian (206)</a></li>
1078
1079  <li><a href="http://www.hungry.com/~pere/blog/tags/debian edu">debian edu (159)</a></li>
1080
1081  <li><a href="http://www.hungry.com/~pere/blog/tags/debian-handbook">debian-handbook (9)</a></li>
1082
1083  <li><a href="http://www.hungry.com/~pere/blog/tags/digistan">digistan (11)</a></li>
1084
1085  <li><a href="http://www.hungry.com/~pere/blog/tags/dld">dld (18)</a></li>
1086
1087  <li><a href="http://www.hungry.com/~pere/blog/tags/docbook">docbook (33)</a></li>
1088
1089  <li><a href="http://www.hungry.com/~pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
1090
1091  <li><a href="http://www.hungry.com/~pere/blog/tags/english">english (468)</a></li>
1092
1093  <li><a href="http://www.hungry.com/~pere/blog/tags/fiksgatami">fiksgatami (23)</a></li>
1094
1095  <li><a href="http://www.hungry.com/~pere/blog/tags/fildeling">fildeling (14)</a></li>
1096
1097  <li><a href="http://www.hungry.com/~pere/blog/tags/freeculture">freeculture (34)</a></li>
1098
1099  <li><a href="http://www.hungry.com/~pere/blog/tags/freedombox">freedombox (9)</a></li>
1100
1101  <li><a href="http://www.hungry.com/~pere/blog/tags/frikanalen">frikanalen (20)</a></li>
1102
1103  <li><a href="http://www.hungry.com/~pere/blog/tags/h264">h264 (20)</a></li>
1104
1105  <li><a href="http://www.hungry.com/~pere/blog/tags/intervju">intervju (43)</a></li>
1106
1107  <li><a href="http://www.hungry.com/~pere/blog/tags/isenkram">isenkram (20)</a></li>
1108
1109  <li><a href="http://www.hungry.com/~pere/blog/tags/kart">kart (23)</a></li>
1110
1111  <li><a href="http://www.hungry.com/~pere/blog/tags/kodi">kodi (6)</a></li>
1112
1113  <li><a href="http://www.hungry.com/~pere/blog/tags/ldap">ldap (9)</a></li>
1114
1115  <li><a href="http://www.hungry.com/~pere/blog/tags/lego">lego (5)</a></li>
1116
1117  <li><a href="http://www.hungry.com/~pere/blog/tags/lenker">lenker (8)</a></li>
1118
1119  <li><a href="http://www.hungry.com/~pere/blog/tags/linuxcnc">linuxcnc (8)</a></li>
1120
1121  <li><a href="http://www.hungry.com/~pere/blog/tags/lsdvd">lsdvd (2)</a></li>
1122
1123  <li><a href="http://www.hungry.com/~pere/blog/tags/ltsp">ltsp (1)</a></li>
1124
1125  <li><a href="http://www.hungry.com/~pere/blog/tags/madewithcc">madewithcc (3)</a></li>
1126
1127  <li><a href="http://www.hungry.com/~pere/blog/tags/mesh network">mesh network (8)</a></li>
1128
1129  <li><a href="http://www.hungry.com/~pere/blog/tags/multimedia">multimedia (46)</a></li>
1130
1131  <li><a href="http://www.hungry.com/~pere/blog/tags/nice free software">nice free software (15)</a></li>
1132
1133  <li><a href="http://www.hungry.com/~pere/blog/tags/noark5">noark5 (26)</a></li>
1134
1135  <li><a href="http://www.hungry.com/~pere/blog/tags/norsk">norsk (326)</a></li>
1136
1137  <li><a href="http://www.hungry.com/~pere/blog/tags/nuug">nuug (200)</a></li>
1138
1139  <li><a href="http://www.hungry.com/~pere/blog/tags/offentlig innsyn">offentlig innsyn (42)</a></li>
1140
1141  <li><a href="http://www.hungry.com/~pere/blog/tags/open311">open311 (2)</a></li>
1142
1143  <li><a href="http://www.hungry.com/~pere/blog/tags/opensnitch">opensnitch (4)</a></li>
1144
1145  <li><a href="http://www.hungry.com/~pere/blog/tags/opphavsrett">opphavsrett (76)</a></li>
1146
1147  <li><a href="http://www.hungry.com/~pere/blog/tags/personvern">personvern (114)</a></li>
1148
1149  <li><a href="http://www.hungry.com/~pere/blog/tags/raid">raid (4)</a></li>
1150
1151  <li><a href="http://www.hungry.com/~pere/blog/tags/reactos">reactos (1)</a></li>
1152
1153  <li><a href="http://www.hungry.com/~pere/blog/tags/reprap">reprap (11)</a></li>
1154
1155  <li><a href="http://www.hungry.com/~pere/blog/tags/rfid">rfid (3)</a></li>
1156
1157  <li><a href="http://www.hungry.com/~pere/blog/tags/robot">robot (17)</a></li>
1158
1159  <li><a href="http://www.hungry.com/~pere/blog/tags/rss">rss (1)</a></li>
1160
1161  <li><a href="http://www.hungry.com/~pere/blog/tags/ruter">ruter (7)</a></li>
1162
1163  <li><a href="http://www.hungry.com/~pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
1164
1165  <li><a href="http://www.hungry.com/~pere/blog/tags/sikkerhet">sikkerhet (60)</a></li>
1166
1167  <li><a href="http://www.hungry.com/~pere/blog/tags/sitesummary">sitesummary (4)</a></li>
1168
1169  <li><a href="http://www.hungry.com/~pere/blog/tags/skepsis">skepsis (5)</a></li>
1170
1171  <li><a href="http://www.hungry.com/~pere/blog/tags/standard">standard (77)</a></li>
1172
1173  <li><a href="http://www.hungry.com/~pere/blog/tags/stavekontroll">stavekontroll (7)</a></li>
1174
1175  <li><a href="http://www.hungry.com/~pere/blog/tags/stortinget">stortinget (14)</a></li>
1176
1177  <li><a href="http://www.hungry.com/~pere/blog/tags/surveillance">surveillance (65)</a></li>
1178
1179  <li><a href="http://www.hungry.com/~pere/blog/tags/sysadmin">sysadmin (5)</a></li>
1180
1181  <li><a href="http://www.hungry.com/~pere/blog/tags/usenix">usenix (2)</a></li>
1182
1183  <li><a href="http://www.hungry.com/~pere/blog/tags/valg">valg (9)</a></li>
1184
1185  <li><a href="http://www.hungry.com/~pere/blog/tags/verkidetfri">verkidetfri (22)</a></li>
1186
1187  <li><a href="http://www.hungry.com/~pere/blog/tags/video">video (80)</a></li>
1188
1189  <li><a href="http://www.hungry.com/~pere/blog/tags/vitenskap">vitenskap (4)</a></li>
1190
1191  <li><a href="http://www.hungry.com/~pere/blog/tags/web">web (42)</a></li>
1192
1193 </ul>
1194
1195
1196     </div>
1197     <p style="text-align: right">
1198  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
1199 </p>
1200
1201   </body>
1202 </html>