Multispindle: Revert base sim configs to single spindle.

Update lathe_multispindle README to use $ for spindle choice.

Signed-off-by: andy pugh <andy@bodgesoc.org>

Author: andypugh

configs/sim/axis/axis_mm.ini

@@ -130,7 +130,6 @@ MAX_LINEAR_VELOCITY = 53.34
 DEFAULT_LINEAR_ACCEL = 508
 MAX_LINEAR_ACCEL = 508
 POSITION_FILE = position_mm.txt
-SPINDLES = 2
 
 [KINS]
 KINEMATICS = trivkins

configs/sim/axis/lathe_multispindle/README

@@ -1,24 +1,18 @@
 This is a simulation of a 2-spindle lathe to demonstrate the multispindle patch.
 
-up to 8 spindles are supported, set by [TRAJ]SPINDLES in the INI and a 
-num_spindles modparam to motmod. These _must_ agree with each other. 
+up to 8 spindles are supported, set by [TRAJ]SPINDLES in the INI and a
+num_spindles modparam to motmod. These _must_ agree with each other.
 
-There are still some things to shake-down regarding default behaviours if no
-spindle is selected. 
-
-Most spindle-related commands now take an extra "E" word to say which spindle 
-to apply them to. The exception is G76 which already used E, so now uses D for
-spindle. 
-
-The docs in this branch have not been updated to reflect new behaviour. 
+Most spindle-related commands now take an extra "$" word to say which spindle
+to apply them to.
 
 Examples
 
-S1000 E1 - set the speed of spindle 1 to 1000
-M3 S100 E0 - set the speed of spindle 0 to 100
+S1000 $1 - set the speed of spindle 1 to 1000
+M3 S100 $0 - set the speed of spindle 0 to 100
 
-G33 X10 K1.5 E1 - make a move synchronised to spindle 1
-G33.2 Z-1 K1 E0 - rigid tap synchronised to spindle 0.
+G33 X10 K1.5 $1 - make a move synchronised to spindle 1.
+G33.2 Z-1 K1 $0 - rigid tap synchronised to spindle 0.
 
-M51 P0 E6 - disable speed override on spindle 6. M48 and M49 operate on all.
+M51 P0 $6 - disable speed override on spindle 6. M48 and M49 operate on all.
 

lib/hallib/core_sim.hal

@@ -4,7 +4,7 @@
 # kinematics
 loadrt [KINS]KINEMATICS
 # motion controller, get name and thread periods from ini file
-loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=2
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 # load 6 differentiators (for velocity and accel signals
 loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
 # load additional blocks