Spindle Limits

[SPINDLE_0]
TYPE = pwm
PWM_TYPE = 1
PWM_FREQUENCY = 15000
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_ERROR = 0.0
MAX_OUTPUT = 5000
MIN_FORWARD_VELOCITY = 500
MAX_FORWARD_VELOCITY = 5000
MIN_REVERSE_VELOCITY = 500
MAX_REVERSE_VELOCITY = 5000

# Spindle PID Setup
setp pid.s.Pgain [SPINDLE_0](P)
setp pid.s.Igain [SPINDLE_0](I)
setp pid.s.Dgain [SPINDLE_0](D)
setp pid.s.bias [SPINDLE_0](BIAS)
setp pid.s.FF0 [SPINDLE_0](FF0)
setp pid.s.FF1 [SPINDLE_0](FF1)
setp pid.s.FF2 [SPINDLE_0](FF2)
setp pid.s.deadband [SPINDLE_0](DEADBAND)
setp pid.s.maxoutput [SPINDLE_0](MAX_OUTPUT)
setp pid.s.error-previous-target true

# Spindle PWM Setup
setp hm2_[MESA](BOARD).0.pwmgen.00.output-type [SPINDLE_0](PWM_TYPE)
setp hm2_[MESA](BOARD).0.pwmgen.pwm_frequency [SPINDLE_0](PWM_FREQUENCY)
setp hm2_[MESA](BOARD).0.pwmgen.00.scale [SPINDLE_0]MAX_OUTPUT

# Spindle Enable
net spindle-on <= spindle.0.on
net spindle-on => pid.s.enable
net spindle-on => hm2_[MESA](BOARD).0.pwmgen.00.enable

# Spindle Connections
net spindle-vel-cmd <= spindle.0.speed-out-abs
net spindle-vel-cmd => pid.s.command
net spindle-pid-out <= pid.s.output
net spindle-pid-out => hm2_[MESA](BOARD).0.pwmgen.00.value

# Spindle Feedback
setp spindle.0.at-speed true