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This is the config for the stepper-driven Sherline lathe which is generously on loan from NIST.
It has spindle speed control by analog input, which is driven by software-generated PWM on a parallel port pin. The motors are driven with step/dir and the spindle encoder (for synchronized motion/threading) is counted by software on the parallel port too.
This all makes for a fully functional lathe using simple hardware. The power is all in HAL; the hardware is just a single parallel port interface and simple stepper drivers.
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