# counting the spindle encoder in software
loadrt encoder num_chan=1
# simulate the encoder
loadrt sim_encoder num_chan=1
loadrt limit2 count=1

addf limit2.0                   servo-thread

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

# spindle speed control
net spindle-speed-cmd  motion.spindle-speed-out => limit2.0.in
net spindle-speed-limited limit2.0.out => sim-encoder.0.speed

# simulate spindle mass
setp limit2.0.maxv 500.0 # 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 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 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 count=1
loadrt scale count=1
net spindle-rps-raw encoder.0.velocity lowpass.0.in
net spindle-rps-filtered lowpass.0.out scale.0.in motion.spindle-speed-in
net spindle-rpm-filtered scale.0.out
setp scale.0.gain 60
setp lowpass.0.gain .07
addf lowpass.0 servo-thread
addf scale.0 servo-thread

net  spindle-fwd <= motion.spindle-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