# counting the spindle encoder in software
loadrt encoder names=encoder_0
# simulate the encoder
loadrt sim_encoder names=sim_encoder_0
loadrt limit2 names=limit_speed

addf limit_speed servo-thread

#######################################################
# Beginning of threading related stuff
#######################################################

# spindle speed control
net spindle-speed-cmd  motion.spindle-speed-out => limit_speed.in
net spindle-speed-limited limit_speed.out => sim_encoder_0.speed

# simulate spindle mass
setp limit_speed.maxv 3000.0 # rpm/second

# spindle encoder
# connect encoder signals to encoder counter
net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z

# assume 120 ppr = 480 counts/rev for the spindle
setp sim_encoder_0.ppr 12
# iocontrol output is in rpm, but sim-encoder speed is rps
setp sim_encoder_0.scale 60
# scale encoder output to read in revolutions
# (that way thread pitches can be straightforward,
#  a 20 tpi thread would multiply the encoder output
#  by 1/20, etc)
setp encoder_0.position-scale 48

# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable motion.spindle-index-enable <=> encoder_0.index-enable

# report our revolution count to the motion controller
net spindle-pos encoder_0.position => motion.spindle-revs

# for spindle velocity estimate
loadrt lowpass names=lowpass_velocity
loadrt scale names=scale_to_rpm
net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in motion.spindle-speed-in
net spindle-rpm-filtered scale_to_rpm.out
setp scale_to_rpm.gain 60
setp lowpass_velocity.gain .07
addf lowpass_velocity servo-thread
addf scale_to_rpm servo-thread

# for at-speed detection
loadrt near names=near_speed
addf near_speed servo-thread
setp near_speed.scale 1.1
setp near_speed.difference 10
net spindle-speed-cmd => near_speed.in1
net spindle-rpm-filtered => near_speed.in2
net spindle-at-speed near_speed.out motion.spindle-at-speed

net  spindle-fwd <= motion.spindle-forward

addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread

addf sim-encoder.make-pulses    servo-thread
addf encoder.update-counters    servo-thread
