Gearchange two gears, electronic clutch

component gearchange "A component to choose spindle gears according to spindle speed";
pin in float speed-command;
pin in bit spindle-on;
pin in bit manual-low;
pin in bit manual-high;
pin in bit brake-enable;
pin out float motor-speed;
pin out bit low-gear;
pin out bit high-gear;
pin out bit brake;
param rw float low-ratio=3;
param rw float high-ratio=1;
param rw float max-low = 500;

author "andy pugh";
license "GPL";
function _;

;;

FUNCTION(_){
    static int old_M3;

    if (spindle_on) {
        if (!old_M3){ // spindle off to on transition
            if (manual_high) {
                high_gear = 1;
                low_gear = 0;
                brake = 0;
            }
            else if (manual_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;
            } else if (speed_command <= max_low){
                high_gear = 0;
                low_gear = 1;
                brake = 0;
            } else {
                high_gear = 1;
                low_gear = 0;
                brake = 0;
            }
        }
    } else { //spindle off
        high_gear = 0;
        low_gear = 0;
        brake = brake_enable;
    }
        
    old_M3 = spindle_on;

    if (high_gear){
        motor_speed = speed_command * high_ratio;
    } else if (low_gear){
        motor_speed = speed_command * low_ratio;
    }
}