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component aprs_laserreg "";

pin in   float inpower    "Desired laser power at constant speed";
pin in   float reqspd    "Requested speed, connect to motion.requested-vel";
pin in   float curspd    "Current speed, connect to motion.current-vel";
pin in   float velx    "Current speed x component, connect to joint.0.vel-cmd";
pin in   float vely    "Current speed y component, connect to joint.1.vel-cmd";
pin in   float velz    "Current speed y component, connect to joint.1.vel-cmd";
pin in   float share    "Fraction of power given to pure Y movement, eg. 0.6";
pin out  float outpower "Scaled output laser power";

function _ fp "Update the laser power";

license "GPL";

;;

#include <math.h>

FUNCTION(_) {
	outpower = inpower * (curspd / reqspd);
	    
	float angle = atan2(fabs(velx), fabs(vely));  // angle away from y in radians
	float horz = angle / (0.5*M_PI);          // 1 when moving perfectly along x axis
	outpower *= share + (1-share) * horz;

	if ( outpower > inpower )
		outpower = inpower;        
	if ( outpower > 100 )
		outpower = 100;        
	if ( ( fabs(velx)<1e-6 && fabs(vely)<1e-6 ) || isnan(outpower) || outpower < 0 )
		outpower = 0;

}

# laser engraver
# software PWM
loadrt pwmgen output_type=0
addf pwmgen.update      servo-thread
addf pwmgen.make-pulses servo-thread # should be base-thread
setp pwmgen.0.enable TRUE
setp pwmgen.0.scale 65535

# based on https://forum.linuxcnc.org/47-hal-examples/54073-laser-power-scaling-based-on-speed-and-direction
loadrt lincurve personality=2
loadrt aprs_laserreg # for some reason the component gets renamed to aprs-laserreg (ie changes _ to -)

addf lincurve.0         servo-thread
addf aprs-laserreg.0    servo-thread # I don't seem to have a base-thread. I think because it is MESA


# Laser power mapping (0-100 -> 0-65535)
setp lincurve.0.x-val-00 0
setp lincurve.0.y-val-00 0

setp lincurve.0.x-val-01 100 
setp lincurve.0.y-val-01 65535 

net laser-requested-speed      motion.requested-vel    => aprs-laserreg.0.reqspd
net laser-current-speed        motion.current-vel      => aprs-laserreg.0.curspd
net laser-velx                 joint.0.vel-cmd         => aprs-laserreg.0.velx
net laser-vely                 joint.1.vel-cmd         => aprs-laserreg.0.vely
net laser-velz                 joint.2.vel-cmd         => aprs-laserreg.0.velz
setp aprs-laserreg.0.share     1.0 

net laser-percent              spindle.1.speed-out      => aprs-laserreg.0.inpower
net laser-regulated-percent    aprs-laserreg.0.outpower => lincurve.0.in
net laser-65535                lincurve.0.out           => pwmgen.0.value
net laser-pwm                  pwmgen.0.pwm             => optimat_o_laser_engraver_pwm

# second spindle we will always consider to be at speed
net laser-at-speed => spindle.1.at-speed
sets laser-at-speed true