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

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

setp   pid.s.Pgain     1
setp   pid.s.Igain     0
setp   pid.s.Dgain     0
setp   pid.s.bias      0
setp   pid.s.FF0       0
setp   pid.s.FF1       0
setp   pid.s.FF2       0
setp   pid.s.deadband  0
setp   pid.s.maxoutput 1500

net spindle-index-enable  <=>  pid.s.index-enable

# ---PWM Generator signals/setup---
setp   hm2_5i20.0.gpio.007.invert_output true
setp   hm2_5i20.0.pwmgen.00.output-type 1
setp   hm2_5i20.0.pwmgen.00.scale  1500


net spindle-vel-cmd     => pid.s.command
net spindle-output     pid.s.output      => hm2_5i20.0.pwmgen.00.value
net spindle-enable      => pid.s.enable
net spindle-enable      => hm2_5i20.0.pwmgen.00.enable
net spindle-vel-fb      => pid.s.feedback

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

setp    hm2_5i20.0.encoder.02.counter-mode 0
setp    hm2_5i20.0.encoder.02.filter 1
setp    hm2_5i20.0.encoder.02.index-invert 1
setp    hm2_5i20.0.encoder.02.index-mask 0
setp    hm2_5i20.0.encoder.02.index-mask-invert 0
setp    hm2_5i20.0.encoder.02.scale -480


net spindle-revs              <=  hm2_5i20.0.encoder.02.position
net spindle-vel-fb            <=  hm2_5i20.0.encoder.02.velocity
net spindle-index-enable     <=>  hm2_5i20.0.encoder.02.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps    <=  motion.spindle-speed-out-rps
net spindle-vel-cmd        <=  motion.spindle-speed-out
net spindle-enable         <=  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 spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb         =>  near.0.in2
net spindle-at-speed       <=  near.0.out
setp near.0.scale .9