#!/usr/bin/tclsh

package require Linuxcnc ;# must be before Hal
emc_init -quick
package require Hal
parse_ini $::env(INI_FILE_NAME)

# SET STEPGEN TO SPINDLE PARAMETERS
# hal setp    hm2_7i96s.0.stepgen.04.position-scale  [set ::SPINDLE_0(SCALE)]
# REV3.3 - LEAVE SCALE ALONE FOR NOW
hal setp    hm2_7i96s.0.stepgen.04.maxvel          [set ::SPINDLE_0(MAX_RPS)]
hal setp    hm2_7i96s.0.stepgen.04.maxaccel        [set ::SPINDLE_0(MAX_ACCEL_RPS)]
# REV3.3 ELIMINATE NEED FOR M100
hal setp    pid.c.enable false
hal unlinkp joint.2.index-enable

#LATHE REV3.3 - SWITCH DRIVE CONTROL MODE TO VELOCITY ONLY, NO POSITION SWITCH FOR CAXIS.  TRYING TO ELIMINATE DRIVE DITHER.