#================================================================================================================================



# --- PID SETUP ---
setp     pid.orient.Pgain                                  1
setp     pid.orient.Igain                                  0
setp     pid.orient.Dgain                                  0
setp     pid.orient.bias                                   0
setp     pid.orient.FF0                                    0
setp     pid.orient.FF1                                    1
setp     pid.orient.FF2                                    0
ssetp    pid.orient.deadband                               0
setp     pid.orient.maxoutput                              1
etp      pid.orient.error-previous-target                  TRUE

# setup encoder position to give 0..1/rev (encoder.03.position is 0..360/rev)
#1/360
setp scale.01rev.gain   0.00277778 

setp scale.orient.1.gain   1
setp scale.orient.1.offset 104

setp orient.tolerance 0.0001

net a-index-enable  <=> pid.a.index-enable  <=> joint.3.index-enable <=> hm2_7i76e.0.encoder.03.index-enable <=> spindle.0.index-enable 
net a-index-enable  <=> orient.index-enable                                             

net ctrl_mode                   <= motion.digital-out-02                    => encdisconnect.a.disconnect          => hm2_7i76e.0.7i84.0.2.output-06
net enc_03_pos                  <= hm2_7i76e.0.encoder.03.position         => encdisconnect.a.enc-pos-in
net enc_03_vel                  <= hm2_7i76e.0.encoder.03.velocity         => encdisconnect.a.enc-vel-in

net a-pos-fb         <= encdisconnect.a.enc-pos-out     => pid.a.feedback        => joint.3.motor-pos-fb
net a-vel-fb         <= encdisconnect.a.enc-vel-out     => pid.a.feedback-deriv

net enc_03_pos                                            => scale.01rev.in            => near.spindle_orient.in2   
net enc_03_pos_01rev          <= scale.01rev.out          => pid.orient.feedback       => orient.position           => spindle.0.revs

net orient_enable             <= spindle.0.orient         => pid.orient.enable         => orient.enable 	    => mux.orient.sel
net orient_enable                                         => and.orient.in1            => or.orient.0.in1 	    
net orient_angle              <= spindle.0.orient-angle   => orient.angle              => near.spindle_orient.in1 
net orient_command	      <= orient.command	          => pid.orient.command 
net orient_mode		      <= spindle.0.orient-mode    => orient.mode
net spin_ccw_sig0	      <= spindle.0.reverse        => or.orient.1.in0	
net spin_ccw_sig1	      <= and.orient.out		  => or.orient.1.in1
net spin_reverse              <= or.orient.1.out          => hm2_7i76e.0.7i84.0.2.output-02    => not.spindle.in
net spin_cw_sig0	      <= spindle.0.on             => or.orient.0.in0
net spindle_blk_fwd           <= not.spindle.out          => and.spindle.in0 	
net spindle-enable            <= or.orient.0.out          => and.spindle.in1
net spindle_fwd               <= and.spindle.out          => hm2_7i76e.0.7i84.0.2.output-01
net spin_speed_out            <= mux.orient.out		  => hm2_7i76e.0.7i76.0.0.spinout	
net pid_out		      <= pid.orient.output        => abs.spindle_cmd.in    => comp.orient.in0
net pid_out_abs               <= abs.spindle_cmd.out      => scale.orient.1.in          
net spin_orient_vel	      <= scale.orient.1.out       => mux.orient.in1
net spindle-vel-cmd-rpm-abs                               => mux.orient.in0
net orient_comp_out           <= comp.orient.out          => and.orient.in0
net spindle_oriented          <= orient.is-oriented       => spindle.0.is-oriented

setp scale.enc-vel.gain        0.00277778
net enc_03_vel                 => scale.enc-vel.in
net enc_03_vel_rps             <= scale.enc-vel.out    =>  spindle.0.speed-in             

# --- SETUP SPINDLE CONTROL ---
net spindle-vel-cmd-rps         <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rpm         <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs     <=  spindle.0.speed-out-abs	    






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