# spin.hal
# ========

# swap the encoder into siimple counter mode
setp hm2_7i95.0.encoder.05.counter-mode true
setp hm2_7i95.0.encoder.05.scale -60
# output is 95.0.encoder.05.velocity-rpm

# choose the source of the wanted rpm so the mpg can control things
# =================================================================

loadrt sspindle count=1
addf sspindle.0 servo-thread
net spin-rpm  spindle.0.speed-out-abs sspindle.0.req-rpm    # requested rpm
net spin-mpg  sstep.0.rpm-out sspindle.0.mpg-rpm            # mpg rpm
net spin-subv sstep.0.subvert                               # mpg mode
net spin-subv sspindle.0.use-mpg                            # to sspindle
net spin-subv hm2_7i95.0.ssr.00.out-03                      # to mpg lamp
# ssprindle.0.out-rpm                                       # output (float)

# Simple rpm to PWM
# =================

# convert rpm to 0 to 1.0
# 10V is 1500rpm = 1.0
# hence the gain is 1/1500 = 0.0006666666
# loadrt scale count=1
# addf scale.0 servo-thread
# setp scale.0.gain 0.0006666666                                    # multiplier
# net spin-0rpm sspindle.0.out-rpm => scale.0.in                    # input
# net spin-speed-to-DAC scale.0.out => hm2_7i95.0.pwmgen.00.value   # output

# as above but non-linear
# =======================

 loadrt lincurve personality=16 # number of points
 addf lincurve.0 servo-thread
 setp lincurve.0.x-val-00 0     # X is input
 setp lincurve.0.y-val-00 0     # Y is output
 setp lincurve.0.x-val-01 100
 setp lincurve.0.y-val-01 0.006
 setp lincurve.0.x-val-02 200
 setp lincurve.0.y-val-02 0.019
 setp lincurve.0.x-val-03 300
 setp lincurve.0.y-val-03 0.028
 setp lincurve.0.x-val-04 400
 setp lincurve.0.y-val-04 0.037
 setp lincurve.0.x-val-05 500
 setp lincurve.0.y-val-05 0.046
 setp lincurve.0.x-val-06 600
 setp lincurve.0.y-val-06 0.054
 setp lincurve.0.x-val-07 700
 setp lincurve.0.y-val-07 0.064
 setp lincurve.0.x-val-08 800
 setp lincurve.0.y-val-08 0.073
 setp lincurve.0.x-val-09 900
 setp lincurve.0.y-val-09 0.083
 setp lincurve.0.x-val-10 1000
 setp lincurve.0.y-val-10 0.093
 setp lincurve.0.x-val-11 1100
 setp lincurve.0.y-val-11 0.104
 setp lincurve.0.x-val-12 1200
 setp lincurve.0.y-val-12 0.114
 setp lincurve.0.x-val-13 1300
 setp lincurve.0.y-val-13 0.128
 setp lincurve.0.x-val-14 1400
 setp lincurve.0.y-val-14 0.157
 setp lincurve.0.x-val-15 1500
 setp lincurve.0.y-val-15 0.217
 net spin-0rpm sspindle.0.out-rpm  => lincurve.0.in
 net spin-speed-to-DAC lincurve.0.out => hm2_7i95.0.pwmgen.00.value

# delay things after a spindle on
# ===============================

loadrt timedelay count=2
addf timedelay.0 servo-thread
addf timedelay.1 servo-thread
setp timedelay.0.on-delay   0.2     # delay power real 0.2 seconds (protect relays)
setp timedelay.0.off-delay  0.0
setp timedelay.1.on-delay   1       # delay spindle.at-speed by 1 sec (protect tool)
setp timedelay.1.off-delay  0.0

# I am having a problem with the spindle-on value
# it doesn't track spindle0.on and shows a switch in the halshow
# but when I try and assignit mydself it say's I can't because it already is

net spin-on spindle.0.on  => hm2_7i95.0.ssr.00.out-00 timedelay.0.in timedelay.1.in hm2_7i95.0.pwmgen.00.enable # on
net spin-power-on timedelay.0.out => hm2_7i95.0.ssr.00.out-02               # scr power
net spin-at-speed timedelay.1.out => spindle.0.at-speed