# counting the spindle encoder in software
loadrt encoder names=encoder_0,encoder_1
# simulate the encoder
loadrt sim_encoder names=sim_encoder_0,sim_encoder_1
loadrt limit2 names=limit_speed

addf limit_speed servo-thread

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

# spindle speed control
net spindle.0.cmd  spindle.0.speed-out => sim_encoder_0.speed
net spindle.1.cmd  spindle.1.speed-out => sim_encoder_1.speed

# simulate spindle mass
setp limit_speed.maxv 500.0 # rpm/second

# spindle encoder 0
# 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 120
# 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 480

# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable

# report our revolution count to the motion controller
net spindle.0.pos encoder_0.position => spindle.0.revs

# spindle encoder 1
# connect encoder signals to encoder counter
net spindle-phase-A1 sim_encoder_1.phase-A => encoder_1.phase-A
net spindle-phase-B1 sim_encoder_1.phase-B => encoder_1.phase-B
net spindle-phase-Z1 sim_encoder_1.phase-Z => encoder_1.phase-Z

# assume 120 ppr = 480 counts/rev for the spindle
setp sim_encoder_1.ppr 120
# iocontrol output is in rpm, but sim-encoder speed is rps
setp sim_encoder_1.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_1.position-scale 480

# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.1.index-enable <=> encoder_0.index-enable

# report our revolution count to the motion controller
net spindle.1.pos encoder_1.position => spindle.1.revs

# for spindle velocity estimate
loadrt lowpass names=lowpass_velocity.0,lowpass_velocity.1
loadrt scale names=scale_to_rpm.0,scale_to_rpm.1
net spindle-rps-raw.0 encoder_0.velocity lowpass_velocity.0.in
net spindle-rps-filtered.0 lowpass_velocity.0.out scale_to_rpm.0.in spindle.0.speed-in
net spindle-rpm-filtered.0 scale_to_rpm.0.out
setp scale_to_rpm.0.gain 60
setp lowpass_velocity.0.gain .07
addf lowpass_velocity.0 servo-thread
addf scale_to_rpm.0 servo-thread

net spindle-rps-raw.1 encoder_1.velocity lowpass_velocity.1.in
net spindle-rps-filtered.1 lowpass_velocity.1.out scale_to_rpm.1.in spindle.1.speed-in
net spindle-rpm-filtered.1 scale_to_rpm.1.out
setp scale_to_rpm.1.gain 60
setp lowpass_velocity.1.gain .07
addf lowpass_velocity.1 servo-thread
addf scale_to_rpm.1 servo-thread

# for at-speed detection
loadrt near names=near_speed.0,near_speed.1
addf near_speed.0 servo-thread
setp near_speed.0.scale 1.1
setp near_speed.0.difference 10
net spindle.0.cmd => near_speed.0.in1
net spindle-rpm-filtered.0 => near_speed.0.in2
net spindle-at-speed.0 near_speed.0.out spindle.0.at-speed
net  spindle.0-fwd <= spindle.0.forward

addf near_speed.1 servo-thread
setp near_speed.1.scale 1.1
setp near_speed.1.difference 10
net spindle.1.cmd => near_speed.1.in1
net spindle-rpm-filtered.1 => near_speed.1.in2
net spindle-at-speed.1 near_speed.1.out spindle.1.at-speed

net  spindle.1-fwd <= spindle.1.forward

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

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