spindle hal commands

#************************************  7i77v7.hal  **********************************
#*******************
#  SPINDLE S loadrt
#*******************

#sets spindle-at-speed true
setp hm2_5i25.0.encoder.03.counter-mode 0
setp hm2_5i25.0.encoder.03.filter 1
setp hm2_5i25.0.encoder.03.index-invert 0
setp hm2_5i25.0.encoder.03.index-mask 0
setp hm2_5i25.0.encoder.03.index-mask-invert 0
setp hm2_5i25.0.encoder.03.scale [SPINDLE_9]ENCODER_SCALE

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
#net spindle-vel-cmd            <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
#net spindle-on                 <=  motion.spindle-on
#net spindle-cw                 <=  motion.spindle-forward
#net spindle-ccw                 <=  motion.spindle-reverse
net spindle-brake              <=  motion.spindle-brake
### For spindle feedback - next line
net spindle-revs hm2_5i25.0.encoder.03.position motion.spindle-revs
#net spindle-revs               =>  motion.spindle-revs
#net spindle-revs hm2_5i25.0.encoder.03.position
#net spindle-at-speed           =>  motion.spindle-at-speed
## USE next spindle line## net spindle-vel-fb             =>  motion.spindle-speed-in
net spindle-vel-fb-rps hm2_5i25.0.encoder.03.velocity motion.spindle-speed-in
## USE next spindle line## net spindle-index-enable      <=>  motion.spindle-index-enable
net spindle-index-enable hm2_5i25.0.encoder.03.index-enable motion.spindle-index-enable

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

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


#****************************************  custom.hal  **********************************
#GS2 VFD COMPONENT
# load the user space component for the Automation Direct GS2 VFD's
loadusr -Wn spindle-vfd gs2_vfd -r 9600 -p none -s 2 -n spindle-vfd -R

# connect the spindle direction pin to the GS2
net gs2-fwd spindle-vfd.spindle-fwd <= motion.spindle-forward
net gs2-rev spindle-vfd.spindle-rev <= motion.spindle-reverse

# connect the spindle on pin to the GS2
net gs2-run spindle-vfd.spindle-on <= motion.spindle-on

# connect the GS2 at speed to the motion at speed
net gs2-at-speed motion.spindle-at-speed <= spindle-vfd.at-speed

# connect the spindle RPM to the GS2
#net gs2-RPM spindle-vfd.speed-command <= motion.spindle-speed-out

loadrt scale count=1
addf scale.0 servo-thread
setp scale.0.gain .4
net spindle-speed-scale motion.spindle-speed-out => scale.0.in
#SEE GEARCHANGE##  net spindle-speed-DAC scale.0.out => spindle-vfd.speed-command

#gearchange info
loadrt gearchange count=1
addf gearchange.0 servo-thread
#net gearchange-select gearchange.0.sel hm2_5i25.0.7i77.0.0.input-03
#net gearchange-select gearchange.0.sel pyvcp.gearchange-chkbtn

setp gearchange.0.min1 60
setp gearchange.0.max1 500
setp gearchange.0.min2 500
setp gearchange.0.max2 4200
setp gearchange.0.scale2 6.558875   #WORK ON SCALING.
setp gearchange.0.reverse 1  #reverse direction in 2nd gear.
#**********************NEW SCALING FACTOR*****************
#scaling output goes into the gearbox component.
net spindle-speed-gear-input scale.0.out => gearchange.0.speed-in
#gearchange output goes to spindle speed command...
net spindle-speed-gear-output gearchange.0.speed-out => spindle-vfd.speed-command



#**************************************  custom_postgui.hal***************************
# display the rpm based on freq * rpm per hz
loadrt mult2
addf mult2.0 servo-thread
#setp mult2.0.in1 143.75
setp mult2.0.in1 71.875
net cypher_speed mult2.0.in0 <= spindle-vfd.frequency-out
net speed_out pyvcp.spindle_rpm <= mult2.0.out

net gearchange-select gearchange.0.sel
net gearchange-select pyvcp.gchange-chkbtn
net gearchange-dir => gearchange.0.dir-in
net gearchange-dir <= pyvcp.gch-dir-chkbtn

# run led
net gs2-run => pyvcp.on-led

# fwd led
net gs2-fwd => pyvcp.fwd-led

# rev led
net gs2-rev => pyvcp.rev-led