Adjusting commanded RPM to real RPM

ENCODER_SCALE = -150.0
MAX_OUTPUT = 2990
OUTPUT_SCALE = 2990
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2990

# ---setup spindle control signals---
net spindle-cmd-rpm     <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps     <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed    => motion.spindle-at-speed


# ---Setup spindle at speed signals---

net spindle-vel-cmd-rps-abs => near.0.in1
net spindle-vel-fb-rps => near.0.in2
net spindle-at-speed motion.spindle-at-speed <= near.0.out
setp near.0.scale 1.10

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

setp     scale.spindle.gain 60
setp     lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps        =>     scale.spindle.in
net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in
net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in
net spindle-fb-rpm-abs-filtered  lowpass.spindle.out