# Spindle handler
loadrt abs names=spindle-abs
loadrt pid names=velocity-pid position-pid
loadrt mux2 names=mode-switch-mux
loadrt or2 names=orient-enable-or
loadrt orient names=orient
loadrt not names=orient-not

#NOTE that this HAL file uses "names=" for all functions. The means that, for example
#the orient comp pins are orient.position rather than orient.0.position.
#Just in acse you were wondering.

addf orient               servo-thread
addf orient-enable-or     servo-thread
addf orient-not           servo-thread
addf mode-switch-mux      servo-thread
addf velocity-pid         servo-thread
addf position-pid         servo-thread
addf spindle-abs          servo-thread

#Adjust this value to align the spindle encoder index to the toolchanger orientation
setp orient.angle 45

#A block of things to configure for a specific hardware setup
net spindle-cmd-final hm2_5i25.0.7i77.0.0.analogout.04
net spindle-fwd hm2_5i25.0.7i77.0.0.digout00
net spindle-rev hm2_5i25.0.7i77.0.0.digout01
net spindle-pos-fb hm2_5i25.0.encoder.04.position
net spindle-speed-rps-fb hm2_5i25.0.encoder.04.velocity

#Normal spindly stuffs
net spindle-speed-rps-fb motion.spindle-speed-in
net spindle-pos-fb motion.spindle-revs

# Two ways to make orient happen
net orient-from-M19 motion.spindle-orient align-enable-or.in1
# net the orient-for-tool signal to something from your toolchanger, possibly even tool-change-req
net orient-for-tool align-enable-or.in0
net orient-enable orient-enable-or.out orient.enable
net orient-enable mode-switch-mux.sel position-pid.enable orient-not.in
#A PID shouln't be left running when it isn't active, they take time to settle
net vel-enable velocity-pid.enable orient-not.out

#spindle speed commands can come from either the velocity pid or the orient pid
net velocity-mode-cmd velocity-pid.out mode-switch-mux.in0
net position-mode-cmd position-pid.out mode-switch-mux.in1

#For simplicity the velocity PID is set up as inactive, just passing a scaled
#value. I have assumed 10V = 5000rpm But this example works in RPS
setp velocity-pid.FF0 0.12
setp velocity-pid.Pgain 0
setp velocity-pid.Igain 0
setp velocity-pid.Dgain 0
net spindle-speed-cmd  motion.spindle-speed-out-rps velocity-pid.command
net spindle-speed-rps-fb velocity-pid.feedback

#The postion PID needs more work. I can't even guess the numbers needed
setp velocity-pid.FF0   0
setp velocity-pid.Pgain 0.01
setp velocity-pid.Igain 0.001
setp velocity-pid.Dgain 0
net spindle-pos-cmd orient.position position-pid.command
net spindle-pos-fb  position-pid.feedback

#Output stage
net raw-spindle mode-switch-mux.out spindle-abs.in
net spindle-cmd-final spindle-abs.out
net spindle-fwd spindle-abs.is-positive
net spindle-rev spindle-abs.is-negative