Orient component revised

/* sudo halcompile --install shome.comp */ component shome "Provides a PID command input used for spindle homing"; pin out bit homing ; pin out bit homed ; pin in bit enable ; pin io bit index_enable ; pin out float command ; pin in float velocity = 100 ; variable int last_enable = 0; option fp yes; function _ "Spindle homing helper. Sets the encoder index-enable and waits for the falling of this signal."; author "Diego Weizel"; description ""; license "GPL"; ;; FUNCTION(_) { if (enable) { if (enable ^ last_enable) { // positive edge on enable homed = 0; homing = 1; index_enable=1; command=velocity; } if (homing && !index_enable) { // falling edge on enable homed = 1; homing = 0; command=0; } } else { homed = 0; homing = 0; command=0; } last_enable = enable; }

loadrt orient addf orient.0 servo-thread loadrt mux2 count=2 addf mux2.0 servo-thread addf mux2.1 servo-thread loadrt shome addf shome.0 servo-thread loadrt near count=2 addf near.0 servo-thread addf near.1 servo-thread loadrt not count=1 addf not.0 servo-thread # reley 5 setp near.1.in1 0.0 net spindle-cmd near.1.in2 net reley-5 near.1.out not.0.in net reley not.0.out hm2_7i92.0.7i77.0.0.output-01 #-spindle-at-speed net spindle-vel-cmd => near.0.in1 net spindle-vel => near.0.in2 # 10% setp near.0.scale 1.1 loadrt or2 count=2 addf or2.0 servo-thread # addf or2.1 servo-thread net or2-0-in0 or2.0.in0 <= near.0.out net orient-mode or2.0.in1 #net spindle-at-speed motion.spindle-at-speed or2.0.out setp motion.spindle-at-speed 1 # encoder feedback setp hm2_7i92.0.encoder.05.counter-mode 0 setp hm2_7i92.0.encoder.05.filter 1 setp hm2_7i92.0.encoder.05.index-invert 0 setp hm2_7i92.0.encoder.05.index-mask 0 setp hm2_7i92.0.encoder.05.index-mask-invert 0 setp hm2_7i92.0.encoder.05.scale 4096 # spindle HOME net spindle-index shome.0.index-enable hm2_7i92.0.encoder.05.index-enable # PWM Generator signals/setup setp hm2_7i92.0.7i77.0.1.analogout5-scalemax 1500 setp hm2_7i92.0.7i77.0.1.analogout5-minlim -1500 setp hm2_7i92.0.7i77.0.1.analogout5-maxlim 1500 # spindle enable setp hm2_7i92.0.7i77.0.1.spinena 1 ################################################## #loadrt pid (main.hal) addf pid.vel.do-pid-calcs servo-thread # Velocity addf pid.pos.do-pid-calcs servo-thread # Position net spindle-pos pid.pos.feedback orient.0.position net shome-enable0 axis.2.homed classicladder.0.in-00 net shome-enable1 shome.0.enable classicladder.0.out-00 net mux1in0 mux2.1.in0 pid.vel.output net mux1in1 mux2.1.in1 shome.0.command net mux1sel mux2.1.sel shome.0.homing setp shome.0.velocity -3 net spindle-vel pid.vel.feedback hm2_7i92.0.encoder.05.velocity net spindle-vel-cmd motion.spindle-speed-out pid.vel.command net spindle-vel-pid mux2.1.out mux2.0.in0 net spindle-pos pid.pos.feedback orient.0.position hm2_7i92.0.encoder.05.position net spindle-pos-cmd orient.0.command pid.pos.command net spindle-angle motion.spindle-orient-angle orient.0.angle net spindle-pos-pid pid.pos.output mux2.0.in1 # this switches modes net orient-mode motion.spindle-orient orient.0.enable pid.pos.enable mux2.0.sel net velocity-mode motion.spindle-on pid.vel.enable setp scale.0.gain -1 ##+++++++++++ loadrt limit2 addf limit2.0 servo-thread setp limit2.0.maxv 1000 net spindle-cmd mux2.0.out => scale.0.in net scaleout scale.0.out hm2_7i92.0.7i77.0.1.analogout5 #net spindle-ramped <= limit2.0.out => hm2_7i92.0.7i77.0.1.analogout5 # Tune the PID from the INI values setp pid.vel.Pgain [SPINDLE]PGAIN_V setp pid.vel.Igain [SPINDLE]IGAIN_V setp pid.vel.Dgain [SPINDLE]DGAIN_V setp pid.vel.FF0 [SPINDLE]FF0_V setp pid.vel.FF1 [SPINDLE]FF1_V setp pid.pos.Pgain [SPINDLE]PGAIN_P setp pid.pos.Igain [SPINDLE]IGAIN_P setp pid.pos.Dgain [SPINDLE]DGAIN_P setp pid.pos.FF0 [SPINDLE]FF0_P setp pid.pos.FF1 [SPINDLE]FF1_P