component steptest """\
Used by Stepconf to allow testing of acceleration and velocity values for an axis.""";
pin in bit jog-minus "Drive TRUE to jog the axis in its minus direction";
pin in bit jog-plus "Drive TRUE to jog the axis in its positive direction";
pin in bit run "Drive TRUE to run the axis near its current position_fb with a trapezoidal velocity profile";
pin in float maxvel "Maximum velocity";
pin in float maxaccel "Permitted Acceleration";
pin in float amplitude "Approximate amplitude of positions to command during 'run'";
pin in s32 dir "Direction from central point to test: 0 = both, 1 = positive, 2 = negative";
pin out float position-cmd;
pin in float position-fb;
pin out bit running;
pin out float run-target;
pin out float run-start;
pin out float run-low;
pin out float run-high;
pin in s32 pause = 0 "pause time for each end of run in seconds";
param rw float epsilon = .001;
variable double timer;
param r float elapsed "Current value of the internal timer";
variable int timer_on;
function _;
license "GPL";
;;
extern double fabs(double);

if (timer_on) {
    timer += fperiod;
}
elapsed = timer;
if(run) {
    if(!running) {
        running = 1;
        run_start = position_fb;

        if(dir == 2) run_high = run_start;
        else run_high = run_start + amplitude;

        if(dir == 1) run_low = run_start;
        else run_low = run_start - amplitude;

        position_cmd = run_low;
    }

    if(fabs(position_fb - position_cmd) < epsilon) {
        if ((position_cmd == run_low) || (position_cmd ==run_high)) {
            if (!timer_on) {
                timer = 0;
                timer_on = true;
            } else if (timer >= pause) {
                timer_on = false; 
                if(position_cmd == run_low) {
                    position_cmd = run_high;
                } else {
                    position_cmd = run_low;
                }
            }
        }
    }
} else if(running) {
    position_cmd = run_start;
    if(fabs(position_fb - run_start) < epsilon) {
        running = 0;
        timer_on = false;
    }
} else {
    if(jog_minus) {
        position_cmd = position_fb - 2 * maxvel * fperiod;
    } else if(jog_plus) {
        position_cmd = position_fb + 2 * maxvel * fperiod;
    } else {
        position_cmd = position_fb;
    }
}