freelancer needed to create a routine for ATC tool change (rackchange)

this won't work either in sim mode or in reality, I tried something via chatgpt but I know that it doesn't work, it can't create a routine. here is my configuration if anyone is free to look at where the error is and what needs to be added in Hal eventually. Tx m6 works but will not return the tool to its pocket when you give it another tool, it also reports in the bottom line that there is no tool even though in reality it took it. each pocket has its own active high sensor on inputs 16-21 and the spindle has a sensor for ``flush'' input 10 the tool is in the spindle, input 12 reports that there is no tool in the spindle. Thanks 

youtube.com/shorts/CXxlm92xtt8?si=KCv1wBtX9AL_1eM2