#*******************
#  SPINDLE S
#*******************

# pid feedback spindle
setp   pid.s.Pgain     0.0
setp   pid.s.Igain     0.0
setp   pid.s.Dgain     0.0
setp   pid.s.bias      0
setp   pid.s.FF0       4.8
setp   pid.s.FF1       0
setp   pid.s.FF2       0
setp   pid.s.deadband  1.0
setp   pid.s.maxoutput 1200

net s-output       => pid.s.output 
net s-pos-cmd      => pid.s.command <= motion.spindle-speed-out
net s-vel-fb       => pid.s.command-deriv


# ---PWM Generator signals/setup---


setp   hm2_5i20.0.pwmgen.03.output-type 3
setp   hm2_5i20.0.pwmgen.03.scale  [SPINDLE_9]OUTPUT_SCALE


net s-output  => hm2_5i20.0.pwmgen.03.value
	
net  machine-is-enabled => hm2_5i20.0.pwmgen.03.enable pid.s.enable  

# ---Encoder feedback signals/setup---

setp    hm2_5i20.0.encoder.03.counter-mode 1
setp    hm2_5i20.0.encoder.03.filter 1
setp    hm2_5i20.0.encoder.03.index-invert 0
setp    hm2_5i20.0.encoder.03.index-mask 0
setp    hm2_5i20.0.encoder.03.index-mask-invert 0
setp    hm2_5i20.0.encoder.03.scale  [SPINDLE_9]ENCODER_SCALE


net spindle-revs              <=  hm2_5i20.0.encoder.03.position 
net spindle-vel-fb            <=  hm2_5i20.0.encoder.03.velocity
net spindle-index-enable     <=>  hm2_5i20.0.encoder.03.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps    <=  motion.spindle-speed-out-rps
net spindle-on             <=  motion.spindle-on
net spindle-cw             <=  motion.spindle-forward
net spindle-ccw            <=  motion.spindle-reverse
net spindle-brake          <=  motion.spindle-brake
net spindle-revs           =>  motion.spindle-revs
net spindle-at-speed       =>  motion.spindle-at-speed
net spindle-vel-fb        =>  motion.spindle-speed-in
net spindle-index-enable  <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

net s-pos-cmd    =>  near.0.in1
net spindle-fb-filtered-abs-rpm   =>  near.0.in2
net spindle-at-speed       <=  near.0.out
setp near.0.scale 1.000000
setp near.0.difference 5.333333

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

setp     scale.spindle.gain 60
setp     lowpass.spindle.gain 1.000000
net spindle-vel-fb        =>   lowpass.spindle.in
net spindle-fb-filtered-rps      lowpass.spindle.out    =>   abs.spindle.in
net spindle-fb-filtered-abs-rps    abs.spindle.out      =>   scale.spindle.in
net spindle-fb-filtered-abs-rpm    scale.spindle.out <= pid.s.feedback