Working Linuxcnc PID Speed control

#cnc3040.hal for linuxcnc  I'm using a Ebay 400W 45v dv spindle, 50v 10a speed control
#3 neo magnetsepoxied in the fan of the spindle. hall effect sensor 5v-36v brown + blue - black signal
# coming off my pin 1 fof my ebay Parallel port BOB

#Youtube RobiSydney
#freenode irc #linuxcnc Crom or Cromaglious

# Generated by stepconf 1.1 at Sat Apr  8 18:10:51 2017
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 2500
loadrt stepgen step_type=0,0,0


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


# --------------------------------------------------
#   Closed Loop Spindle Control
# --------------------------------------------------
    # Initialize the encoder (spindle)
        loadrt encoder num_chan=1
        addf encoder.update-counters base-thread
        addf encoder.capture-position servo-thread
        setp encoder.0.position-scale 0.05
        setp encoder.0.counter-mode 1

    # Initialize the PID
        loadrt pid num_chan=1
        addf pid.0.do-pid-calcs servo-thread
        setp pid.0.Pgain 1
        setp pid.0.Igain 1
        setp pid.0.Dgain 0.5
        setp pid.0.maxoutput 2000
        setp pid.0.FF0 1
        setp pid.0.FF1 1
        setp pid.0.FF2 1
        setp pid.0.enable 1
	setp pid.0.deadband 50
	setp pid.0.maxerror 2000

    # Initialize the pwmgen
        loadrt pwmgen output_type=0
        addf pwmgen.update servo-thread
        addf pwmgen.make-pulses base-thread
        setp pwmgen.0.pwm-freq 2000.0
        setp pwmgen.0.scale 12000
        setp pwmgen.0.dither-pwm true

    # Initialize the scale
    # (This is used to scale the encoder pulse to RPM)
    # (In my case, i have 1 ppr so it is scaled by 60)
        loadrt scale count=1
        addf scale.0 servo-thread
        setp scale.0.gain 1

    # Initialize the sum2
        loadrt sum2 count=1
        addf sum2.0 servo-thread

    # Attach the motion.spindle-on to enable the pwmgen and the pid
        net spindle_enable motion.spindle-on => pwmgen.0.enable => pid.0.enable

    # Attach the encoder to the parallel port pin
        net parport_10_in         parport.0.pin-10-in => encoder.0.phase-A

    # Attach the encoder to the motion and the scale
        net spindle_rev_count     encoder.0.position => motion.spindle-revs
        net spindle_index_enable  encoder.0.index-enable <=> motion.spindle-index-enable
#        net encoder_raw_velocity  encoder.0.velocity => motion.spindle-speed-in
        net encoder_raw_velocity   => motion.spindle-speed-in

    # Attach the pid to the scale, motion, and sum
        net pid_feedback          pid.0.feedback <= encoder.0.velocity # motion.spindle-speed-in
        net pid_command           pid.0.command  <= motion.spindle-speed-out => sum2.0.in0
       # net pid_output            pid.0.output   => sum2.0.in1

    # Attach the pwmgen to the sum and the parallel port
        net pwmgen_value          pwmgen.0.value <= pid.0.output
        net pwmgen_out            pwmgen.0.pwm   => parport.0.pin-01-out

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


addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
#addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

#net spindle-cmd-rpm => pwmgen.0.value
#net spindle-on <= motion.spindle-on => pwmgen.0.enable
#net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.offset 0.0

#net spindle-cmd-rpm     <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps     <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed    => motion.spindle-at-speed
net spindle-ccw <= motion.spindle-reverse

#setp encoder.0.position-scale 3.000000
#setp encoder.0.counter-mode 1
#net spindle-position encoder.0.position => motion.spindle-revs
#net spindle-velocity-feedback-rps encoder.0.velocity => motion.spindle-speed-in
#net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
#net spindle-phase-a encoder.0.phase-A
#net spindle-phase-b encoder.0.phase-B
#net spindle-index encoder.0.phase-Z

net probe-in => motion.probe-input

#net spindle-pwm     => parport.0.pin-01-out
net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir            => parport.0.pin-03-out
net ystep           => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir            => parport.0.pin-05-out
net zstep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir            => parport.0.pin-07-out
net astep           => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net adir            => parport.0.pin-09-out
net xenable         => parport.0.pin-14-out
net spindle-ccw     => parport.0.pin-16-out
net spindle-on      => parport.0.pin-17-out
#net spindle-phase-a <= parport.0.pin-10-in
net home-y          <= parport.0.pin-11-in
net home-z          <= parport.0.pin-12-in
net probe-in        <= parport.0.pin-13-in
net home-x          <= parport.0.pin-15-in

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 36500
setp stepgen.0.dirsetup 36500
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net home-x => joint.0.home-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 36500
setp stepgen.1.dirsetup 36500
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net home-y => joint.1.home-sw-in

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 36500
setp stepgen.2.dirsetup 36500
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable joint.2.amp-enable-out => stepgen.2.enable
net home-z => joint.2.home-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared