custom.hal

# Include your custom HAL commands here
# This file will not be overwritten when you run PNCconf again
#
#
# in INI file section [RS274NGC] we need 
# USER_M_PATH = /home/aprs/linuxcnc/configs/Optimat/mcodes

# Loadrt goes here so we can find them to increase counts as needed
loadrt xor2 count=1
loadrt and2 count=5
loadrt carousel pockets=6 encoding=binary num_sense=3 dir=2
loadrt conv_float_s32 
loadrt toggle count=3
loadrt mux4 count=1
loadrt not count=1
loadrt comp count=2
loadrt conv_u32_float count=1

# alias hardware pin names to descriptive names

# router hardware
# optimat_output is an output from LinuxCNC / MESA to the router
alias pin hm2_5i25.0.7i77.0.0.output-00 optimat_o_optimat_watchdog
alias pin hm2_5i25.0.7i77.0.0.output-01 optimat_o_vacuum_pump     # M100 (on) / M101 (off)
alias pin hm2_5i25.0.7i77.0.0.output-02 optimat_o_spindle_chiller # M102 (on) / M103 (off)
alias pin hm2_5i25.0.7i77.0.0.output-03 optimat_o_dust_collector  # M104 (on) / M105 (off)
alias pin hm2_5i25.0.7i77.0.0.output-04 optimat_o_vacuum_right
alias pin hm2_5i25.0.7i77.0.0.output-05 optimat_o_vacuum_left
alias pin hm2_5i25.0.7i77.0.0.output-06 optimat_o_stopper_right
alias pin hm2_5i25.0.7i77.0.0.output-07 optimat_o_stopper_left
alias pin hm2_5i25.0.7i77.0.0.output-08 optimat_o_motor_drilling_unit
alias pin hm2_5i25.0.7i77.0.0.output-09 optimat_o_horizontal_y_spindle_1_down # needs units_up to retract
alias pin hm2_5i25.0.7i77.0.0.output-10 optimat_o_horizontal_x_spindle_1_down # needs units_up to retract and outer most (east) 
alias pin hm2_5i25.0.7i77.0.0.output-11 optimat_o_horizontal_x_spindle_2_down # needs units_up to retract

alias pin hm2_5i25.0.7i76.0.3.output-00 optimat_o_groove_saw_down # does not need units_up
alias pin hm2_5i25.0.7i76.0.3.output-01 optimat_o_units_up
alias pin hm2_5i25.0.7i76.0.3.output-02 optimat_o_forced_lubrication_on
alias pin hm2_5i25.0.7i76.0.3.output-03 optimat_o_forced_lubrication_air
alias pin hm2_5i25.0.7i76.0.3.output-04 optimat_o_spindle_1 # spindles don't need units up to retract
alias pin hm2_5i25.0.7i76.0.3.output-05 optimat_o_spindle_2
alias pin hm2_5i25.0.7i76.0.3.output-06 optimat_o_spindle_3
alias pin hm2_5i25.0.7i76.0.3.output-07 optimat_o_spindle_4
alias pin hm2_5i25.0.7i76.0.3.output-08 optimat_o_spindle_5
alias pin hm2_5i25.0.7i76.0.3.output-09 optimat_o_spindle_6
alias pin hm2_5i25.0.7i76.0.3.output-10 optimat_o_spindle_7 # leaks!
alias pin hm2_5i25.0.7i76.0.3.output-11 optimat_o_spindle_8
# alias pin hm2_5i25.0.7i76.0.3.output-12 optimat_o_
# alias pin hm2_5i25.0.7i76.0.3.output-13 optimat_o_
# alias pin hm2_5i25.0.7i76.0.3.output-14 optimat_o_
alias pin hm2_5i25.0.7i76.0.3.output-15 optimat_o_laser_engraver_pwm

alias pin hm2_5i25.0.7i66.0.2.output-00 optimat_o_spindle_9
alias pin hm2_5i25.0.7i66.0.2.output-01 optimat_o_spindle_10 # sticky
alias pin hm2_5i25.0.7i66.0.2.output-02 optimat_o_spindle_11 # connected to solenoid, but pneumatic tube is capped?
alias pin hm2_5i25.0.7i66.0.2.output-03 optimat_o_laser_down # laser down solenoid. Added 2026-02-01
alias pin hm2_5i25.0.7i66.0.2.output-04 optimat_o_laser_assist # M110 (on) / M111 (off) 
# alias pin hm2_5i25.0.7i66.0.2.output-05 optimat_o_ # available output
# alias pin hm2_5i25.0.7i66.0.2.output-06 optimat_o_ # available output
alias pin hm2_5i25.0.7i66.0.2.output-07 optimat_o_router_1_clamping
alias pin hm2_5i25.0.7i66.0.2.output-08 optimat_o_motor_router_1
# alias pin hm2_5i25.0.7i66.0.2.output-09 optimat_o_ # available output
alias pin hm2_5i25.0.7i66.0.2.output-10 optimat_o_keb_rotation_forward
alias pin hm2_5i25.0.7i66.0.2.output-11 optimat_o_keb_rotation_reverse
alias pin hm2_5i25.0.7i66.0.2.output-12 optimat_o_keb_parameter_set_1
alias pin hm2_5i25.0.7i66.0.2.output-13 optimat_o_keb_parameter_set_2
alias pin hm2_5i25.0.7i66.0.2.output-14 optimat_o_keb_parameter_set_4
alias pin hm2_5i25.0.7i66.0.2.output-15 optimat_o_laser_crosshair
alias pin hm2_5i25.0.7i66.0.2.output-16 optimat_o_router_1_down
alias pin hm2_5i25.0.7i66.0.2.output-17 optimat_o_mist_coolant
alias pin hm2_5i25.0.7i66.0.2.output-18 optimat_o_tool_magazine_turn_right
alias pin hm2_5i25.0.7i66.0.2.output-19 optimat_o_tool_magazine_turn_left
alias pin hm2_5i25.0.7i66.0.2.output-20 optimat_o_tool_magazine_down
alias pin hm2_5i25.0.7i66.0.2.output-21 optimat_o_tool_magazine_up
alias pin hm2_5i25.0.7i66.0.2.output-22 optimat_o_tool_magazine_changing_position
alias pin hm2_5i25.0.7i66.0.2.output-23 optimat_o_tool_magazine_basic_position


# optimat_input  is an input to LinuxCNC / MESA from the router
# 7i77 board
alias pin hm2_5i25.0.7i77.0.0.input-01-not optimat_i_motor_cb
alias pin hm2_5i25.0.7i77.0.0.input-02 optimat_i_compressed_air
alias pin hm2_5i25.0.7i77.0.0.input-02-not  optimat_i_compressed_air_down
alias pin hm2_5i25.0.7i77.0.0.input-03 optimat_i_vacuum
alias pin hm2_5i25.0.7i77.0.0.input-04 optimat_i_run_signal
alias pin hm2_5i25.0.7i77.0.0.input-05 optimat_i_coolant_flow
alias pin hm2_5i25.0.7i77.0.0.input-06-not optimat_i_coolant_thermal_overload
# input-07 unused safety device center # unused
# input-08 unused safety device right # unused
# input-09 unused safety device left # unused
alias pin hm2_5i25.0.7i77.0.0.input-10 optimat_i_range_right
alias pin hm2_5i25.0.7i77.0.0.input-11 optimat_i_range_left
alias pin hm2_5i25.0.7i77.0.0.input-12 optimat_i_start_right
alias pin hm2_5i25.0.7i77.0.0.input-13 optimat_i_start_left
alias pin hm2_5i25.0.7i77.0.0.input-14 optimat_i_foot_switch_right
alias pin hm2_5i25.0.7i77.0.0.input-15 optimat_i_foot_switch_left
alias pin hm2_5i25.0.7i77.0.0.input-16 optimat_i_horz_y_1_on_top
alias pin hm2_5i25.0.7i77.0.0.input-17 optimat_i_horz_x_1_on_top
alias pin hm2_5i25.0.7i77.0.0.input-18 optimat_i_horz_x_2_on_top
alias pin hm2_5i25.0.7i77.0.0.input-19 optimat_i_groove_saw_on_top
alias pin hm2_5i25.0.7i77.0.0.input-20 optimat_i_router_1_on_bottom
alias pin hm2_5i25.0.7i77.0.0.input-21 optimat_i_router_1_on_top
# alias pin hm2_5i25.0.7i77.0.0.input-22 optimat_i_router_2_on_bottom # unused
# alias pin hm2_5i25.0.7i77.0.0.input-23 optimat_i_router_2_on_top # unused
alias pin hm2_5i25.0.7i77.0.0.input-24 optimat_i_router_standstill
alias pin hm2_5i25.0.7i77.0.0.input-25 optimat_i_router_nominal_speed
# alias pin hm2_5i25.0.7i77.0.0.input-26-not optimat_i_x_axis_home # picked up else
# alias pin hm2_5i25.0.7i77.0.0.input-27-not optimat_i_y_axis_home # picked up else
# alias pin hm2_5i25.0.7i77.0.0.input-28-not optimat_i_z_axis_home # picked up else
# alias pin hm2_5i25.0.7i77.0.0.input-29 optimat_i_ (unused)
# alias pin hm2_5i25.0.7i77.0.0.input-30 optimat_i_ (unused)
alias pin hm2_5i25.0.7i77.0.0.input-31 optimat_i_tool_change_button
# 7i76 board
alias pin hm2_5i25.0.7i76.0.3.input-00 optimat_i_router_1_tool_clamp_closed
alias pin hm2_5i25.0.7i76.0.3.input-01 optimat_i_router_1_tool_clamp_open
alias pin hm2_5i25.0.7i76.0.3.input-02 optimat_i_router_1_without_tool
alias pin hm2_5i25.0.7i76.0.3.input-03 optimat_i_router_1_standstill
alias pin hm2_5i25.0.7i76.0.3.input-04 optimat_i_tool_magazine_on_bottom
alias pin hm2_5i25.0.7i76.0.3.input-05 optimat_i_tool_magazine_on_top
alias pin hm2_5i25.0.7i76.0.3.input-06 optimat_i_tool_magazine_changing_position
alias pin hm2_5i25.0.7i76.0.3.input-07 optimat_i_tool_magazine_basic_position
# alias pin hm2_5i25.0.7i76.0.3.input-08 # unused
alias pin hm2_5i25.0.7i76.0.3.input-09 optimat_i_tool_magazine_counter_pulse
alias pin hm2_5i25.0.7i76.0.3.input-10 optimat_i_tool_magazine_position_bit_1
alias pin hm2_5i25.0.7i76.0.3.input-11 optimat_i_tool_magazine_position_bit_2
alias pin hm2_5i25.0.7i76.0.3.input-12 optimat_i_tool_magazine_position_bit_4
# alias pin hm2_5i25.0.7i76.0.3.input-13 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-14 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-15 # unused
alias pin hm2_5i25.0.7i76.0.3.input-16 optimat_i_toolsetter # TS-27R tool length setter
alias pin hm2_5i25.0.7i76.0.3.input-17 optimat_i_probe      # 3D spindle probe 
# alias pin hm2_5i25.0.7i76.0.3.input-18 # unused (can be encoder in MODE 2)
# alias pin hm2_5i25.0.7i76.0.3.input-19 # unused (can be encoder in MODE 2)
# alias pin hm2_5i25.0.7i76.0.3.input-20 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-21 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-22 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-23 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-24 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-25 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-26 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-27 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-28 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-29 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-30 # unused
# alias pin hm2_5i25.0.7i76.0.3.input-31 # unused


# hmi_output is an output from LinuxCNC / MESA to the HMI / pendant
alias pin hm2_5i25.0.7i66.0.4.output-00 hmi_o_pendant_led
alias pin hm2_5i25.0.7i66.0.4.output-01 hmi_o_panel_feed_hold_led
alias pin hm2_5i25.0.7i66.0.4.output-02 hmi_o_panel_cycle_start_led
alias pin hm2_5i25.0.7i66.0.4.output-03 hmi_o_stacklight_red
alias pin hm2_5i25.0.7i66.0.4.output-04 hmi_o_stacklight_orange
alias pin hm2_5i25.0.7i66.0.4.output-05 hmi_o_stacklight_green
# alias pin hm2_5i25.0.7i66.0.4.output-06 hmi_o_
# alias pin hm2_5i25.0.7i66.0.4.output-07 hmi_o_

# hmi_input is an input to LinuxCNC / MESA from the HMI / pendant
alias pin hm2_5i25.0.7i66.0.4.input-00 hmi_i_panel_ro_a # was hmi_i_pendant_jog_x1
alias pin hm2_5i25.0.7i66.0.4.input-01 hmi_i_pendant_jog_x10
alias pin hm2_5i25.0.7i66.0.4.input-02 hmi_i_pendant_jog_x100
alias pin hm2_5i25.0.7i66.0.4.input-03 hmi_i_pendant_jog_axis_x
alias pin hm2_5i25.0.7i66.0.4.input-04 hmi_i_pendant_jog_axis_y
alias pin hm2_5i25.0.7i66.0.4.input-05 hmi_i_pendant_jog_axis_z
alias pin hm2_5i25.0.7i66.0.4.input-06 hmi_i_pendant_jog_axis_4
alias pin hm2_5i25.0.7i66.0.4.input-07 hmi_i_panel_feed_hold_button
alias pin hm2_5i25.0.7i66.0.4.input-08 hmi_i_panel_cycle_start_button
alias pin hm2_5i25.0.7i66.0.4.input-09 hmi_i_panel_fo_a
alias pin hm2_5i25.0.7i66.0.4.input-10 hmi_i_panel_fo_b
alias pin hm2_5i25.0.7i66.0.4.input-11 hmi_i_panel_fo_e
alias pin hm2_5i25.0.7i66.0.4.input-12 hmi_i_panel_fo_f
alias pin hm2_5i25.0.7i66.0.4.input-13 hmi_i_panel_ro_b
alias pin hm2_5i25.0.7i66.0.4.input-14 hmi_i_panel_ro_e
alias pin hm2_5i25.0.7i66.0.4.input-15 hmi_i_panel_ro_f




# net connect our stuff
# net coolant-flood  =>  optimat_o_laser_crosshair
# mist coolant (air blast) is on only if it turned on and tool unclamp not active

addf xor2.0 servo-thread
addf and2.0 servo-thread
net coolant-mist-xor2-in0 xor2.0.in0 <= iocontrol.0.coolant-mist
net optimat_s_router_1_clamping optimat_o_router_1_clamping => xor2.0.in1
# net coolant-mist optimat_o_mist_coolant <= xor2.0.out
net coolant-mist-xor2-in0 => and2.0.in0
net coolant-mist-and2-in1 and2.0.in1 <= xor2.0.out
net coolant-mist optimat_o_mist_coolant <= and2.0.out

# net both-on parport.0.pin-14-out <= and2.0.out
# just connect without xor
# net coolant-mist => optimat_o_mist_coolant


# for GladeVCP
net air_up <= optimat_i_compressed_air
net air_down <= optimat_i_compressed_air_down
# net router_1_down <= optimat_i_router_1_on_bottom
# net router_1_down <= optimat_i_motor_cb
net vacuum_up <= optimat_i_vacuum

# for gmoccapy messages
net cb_trip <= optimat_i_motor_cb


# inhibit laser engraver when at unsafe height (relative) 
#addf comp.0 servo-thread
# setp comp.0.in1  0.375          # okay to have engraver on below this (relative) z height
# setp comp.0.hyst 0.005          # hysteresis
# net engraver-height-current     comp.0.in0        <= halui.axis.z.pos-relative

# engraver tool (T8) must be the active tool and height must be safe
# addf conv-u32-float.0 servo-thread
# net tool_number_u32   <= halui.tool.number => conv-u32-float.0.in
# net tool_number_float <= conv-u32-float.0.out 

# addf comp.1 servo-thread
# setp comp.1.in0  8             # engraver tool number
# setp comp.1.hyst 0.0001        # floating point is never equal
# net  tool_number_float => comp.1.in1

# addf and2.3 servo-thread
# net engrave-safe-height <= comp.0.out => and2.3.in0
# net engrave-safe-selected <= motion.digital-out-21 => and2.3.in1
# net engrave-signal <= and2.3.out

# make sure comp.1.equal and engrave_signal are both true, if so we turn on optimat_o_laser_engraver_pwm
# addf and2.4 servo-thread
# net engrave-signal => and2.4.in0
# net engrave-tool-match => comp.1.equal => and2.4.in1
# net engrave_pwm <= optimat_o_laser_engraver_pwm <= and2.4.out

# disable safe
# net engrave_pwm <= optimat_o_laser_engraver_pwm 





# net tool-release => optimat_o_router_1_clamping
# net tool-release <= optimat_i_tool_change_button

# stacklight on HMI
# red stacklight is tied to gmoccapy.error 

net stacklight-orange        <= halui.program.is-paused
net stacklight-orange        => hmi_o_stacklight_orange
net stacklight-orange        => hmi_o_panel_feed_hold_led

net stacklight-green          <= halui.program.is-running
net stacklight-green          => hmi_o_stacklight_green
net stacklight-green          => hmi_o_panel_cycle_start_led



# feed rate override (calculation done elsewhere, apparently)
net fo-incr-a     <=  hmi_i_panel_fo_a 
net fo-incr-b     <=  hmi_i_panel_fo_b 
net fo-incr-c     <=  hmi_i_panel_fo_e 
net fo-incr-d     <=  hmi_i_panel_fo_f 

# rapid override 
net ro-incr-a     <=  hmi_i_panel_ro_a 
net ro-incr-b     <=  hmi_i_panel_ro_b 
net ro-incr-c     <=  hmi_i_panel_ro_e 
net ro-incr-d     <=  hmi_i_panel_ro_f 

# program controls
net run-signal    <= hmi_i_panel_cycle_start_button
net run-signal    => halui.program.run

net pause-signal  <= hmi_i_panel_feed_hold_button
net pause-signal  => halui.program.pause

# --- JOINT-SELECT ---
# net joint-select-a     <=  hmi_i_pendant_jog_axis_x
# net joint-select-b     <=  hmi_i_pendant_jog_axis_y
# net joint-select-c     <=  hmi_i_pendant_jog_axis_z
# net joint-select-d     <=  hmi_i_pendant_jog_axis_4

# spindle control
# for now we will just keep the contactor to router_1 on
# TODO need to accomodate drilling motor when tool >= 16 and <= 30
#
# for main spindle we need
# setp optimat_o_motor_router_1 true
# net spindle-enable spindle.0.on => optimat_o_keb_parameter_set_4
#
# what do we need for motor drilling unit
net spindle-cw spindle.0.forward => optimat_o_keb_rotation_forward
net spindle-ccw spindle.0.reverse => optimat_o_keb_rotation_reverse

# this should inhibit feed moves until the spindle has reached speed
# net spindle-at-speed <= optimat_i_router_nominal_speed



# tool changer carousel
net carousel-strobe optimat_i_tool_magazine_counter_pulse => carousel.0.strobe
net carousel-bit-1 optimat_i_tool_magazine_position_bit_1 => carousel.0.sense-0
net carousel-bit-2 optimat_i_tool_magazine_position_bit_2 => carousel.0.sense-1
net carousel-bit-4 optimat_i_tool_magazine_position_bit_4 => carousel.0.sense-2

net carousel-motor-fwd  optimat_o_tool_magazine_turn_left => carousel.0.motor-fwd
net carousel-motor-rev  optimat_o_tool_magazine_turn_right => carousel.0.motor-rev

addf carousel.0 servo-thread

# get requested tool carousel number from analog m code and convert it to s32 for carousel
addf conv-float-s32.0 servo-thread 
net carousel-pos-req motion.analog-out-00 conv-float-s32.0.in
net carousel-pos-s32 conv-float-s32.0.out carousel.0.pocket-number

# send current tool carousel position from s32 from carousel to float for analog m code
# loadrt conv_s32_float n=1
# addf conv-s32-float.0 servo-thread 
# net carousel-pos-current carousel.0.current-position conv-s32-float.0.in
# net carousel-pos-current-float conv-s32-float.0.out motion.analog-in-00


# make tool change work
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed


# IO for M6x codes
net tool-change-router-clamp-closed optimat_i_router_1_tool_clamp_closed      => motion.digital-in-00
net tool-change-router-clamp-open   optimat_i_router_1_tool_clamp_open        => motion.digital-in-01
net tool-change-router-without-tool optimat_i_router_1_without_tool           => motion.digital-in-02
net tool-change-router-standstill   optimat_i_router_1_standstill             => motion.digital-in-03
net tool-change-router-on-bottom    optimat_i_router_1_on_bottom              => motion.digital-in-04
net tool-change-router-on-top       optimat_i_router_1_on_top                 => motion.digital-in-05
net tool-change-mag-on-bottom       optimat_i_tool_magazine_on_bottom         => motion.digital-in-06 
net tool-change-mag-on-top          optimat_i_tool_magazine_on_top            => motion.digital-in-07 
net tool-change-mag-on-changing     optimat_i_tool_magazine_changing_position => motion.digital-in-08 
net tool-change-mag-on-basic        optimat_i_tool_magazine_basic_position    => motion.digital-in-09 
net tool-change-carousel-ready      carousel.0.ready                          => motion.digital-in-10
net tool-change-carousel-active     carousel.0.active                         => motion.digital-in-11


net tool-change-mag-down            optimat_o_tool_magazine_down              => motion.digital-out-00
net tool-change-mag-up              optimat_o_tool_magazine_up                => motion.digital-out-01
net tool-change-mag-changing        optimat_o_tool_magazine_changing_position => motion.digital-out-02
net tool-change-mag-basic           optimat_o_tool_magazine_basic_position    => motion.digital-out-03
# net tool-change-release             optimat_o_router_1_clamping               => motion.digital-out-04
net optimat_s_router_1_clamping                                               => motion.digital-out-04
net tool-change-router-down         optimat_o_router_1_down                   => motion.digital-out-05
net tool-change-units-up            optimat_o_units_up                        => motion.digital-out-06
net tool-change-carousel-enable     carousel.0.enable                         => motion.digital-out-07

net tool-change-groove-saw          optimat_o_groove_saw_down                 => motion.digital-out-08
net tool-change-spindle-1-down      optimat_o_spindle_1                       => motion.digital-out-09
net tool-change-spindle-2-down      optimat_o_spindle_2                       => motion.digital-out-10
net tool-change-spindle-3-down      optimat_o_spindle_3                       => motion.digital-out-11
net tool-change-spindle-4-down      optimat_o_spindle_4                       => motion.digital-out-12
net tool-change-spindle-5-down      optimat_o_spindle_5                       => motion.digital-out-13
net tool-change-spindle-6-down      optimat_o_spindle_6                       => motion.digital-out-14
net tool-change-spindle-7-down      optimat_o_spindle_7                       => motion.digital-out-15
net tool-change-spindle-8-down      optimat_o_spindle_8                       => motion.digital-out-16
net tool-change-spindle-9-down      optimat_o_spindle_9                       => motion.digital-out-17
net tool-change-spindle-10-down     optimat_o_spindle_10                      => motion.digital-out-18
net tool-change-spindle-11-down     optimat_o_spindle_11                      => motion.digital-out-19
net tool-change-laser-crosshair     optimat_o_laser_crosshair                 => motion.digital-out-20
# net tool-change-laser-engraver      optimat_o_laser_engraver_pwm              => motion.digital-out-21 # this should go into and and that compares it with halui.axis.z.pos-relative
net tool-change-horiz-y-1           optimat_o_horizontal_y_spindle_1_down     => motion.digital-out-22
net tool-change-horiz-x-1           optimat_o_horizontal_x_spindle_1_down     => motion.digital-out-23
net tool-change-horiz-x-2           optimat_o_horizontal_x_spindle_2_down     => motion.digital-out-24
net tool-change-motor-router        optimat_o_motor_router_1                  => motion.digital-out-25
net tool-change-motor-drilling      optimat_o_motor_drilling_unit             => motion.digital-out-26
net tool-change-motor-keb-param-1   optimat_o_keb_parameter_set_1             => motion.digital-out-27
net tool-change-motor-keb-param-2   optimat_o_keb_parameter_set_2             => motion.digital-out-28
net tool-change-motor-keb-param-4   optimat_o_keb_parameter_set_4             => motion.digital-out-29
net lube-forced-on                  optimat_o_forced_lubrication_on           => motion.digital-out-30 # meter spring pushed grease for 10 seconds
net lube-air-on                     optimat_o_forced_lubrication_air          => motion.digital-out-31 # blows what is in the tube
net tool-change-laser-down          optimat_o_laser_down                      => motion.digital-out-32




# toggles for {stoppers, tool carousel down/up}

# left foot pedal
net toggle-stoppers-left-pedal optimat_i_foot_switch_left => toggle.0.in
net toggle-stoppers-left toggle.0.out => optimat_o_stopper_left
addf toggle.0 servo-thread

# right foot pedal
net toggle-stoppers-right-pedal optimat_i_foot_switch_right => toggle.1.in
net toggle-stoppers-right toggle.1.out => optimat_o_stopper_right
addf toggle.1 servo-thread

# -20S1 button on tool changer to drop/raise carosel using the one-shot halui.mdi-commands

net toggle-magazine-button optimat_i_tool_change_button => toggle.2.in
net toggle-magazine-state <= toggle.2.out 

# MDI command 0 should be triggered when !TOGGLE AND BUTTON
net toggle-magazine-state => not.0.in
net toggle-magazine-state-not <= not.0.out
net toggle-magazine-state-not => and2.1.in0
net toggle-magazine-button => and2.1.in1
net mdi-magazine-down and2.1.out => halui.mdi-command-00

# MDI command 1 should be trigged when TOGGLE AND BUTTON
net toggle-magazine-state => and2.2.in0
net toggle-magazine-button => and2.2.in1
net mdi-magazine-up and2.2.out => halui.mdi-command-01


addf toggle.2 servo-thread
addf not.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread

# jog pendant

addf mux4.0 servo-thread

# For velocity mode, set to 1
# In velocity mode the axis stops when the dial is stopped
# even if that means the commanded motion is not completed,
# For position mode (the default), set to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp axis.x.jog-vel-mode 0
setp axis.y.jog-vel-mode 0
setp axis.z.jog-vel-mode 0

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.000025 # encoder outputs 4x counts, so this equals 0.0001
setp mux4.0.in1 0.000250 # encoder outputs 4x counts, so this equals 0.0010
setp mux4.0.in2 0.002500 # encoder outputs 4x counts, so this equals 0.0100


# The inputs to the mux4 component
# x1 input really not needed. If not x10 and not x100 then it must be x1
net scale1 mux4.0.sel0 <= hmi_i_pendant_jog_x10
net scale2 mux4.0.sel1 <= hmi_i_pendant_jog_x100

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale

# The Axis select inputs
net mpg-x axis.x.jog-enable <= hmi_i_pendant_jog_axis_x
net mpg-y axis.y.jog-enable <= hmi_i_pendant_jog_axis_y
net mpg-z axis.z.jog-enable <= hmi_i_pendant_jog_axis_z
net mpg-a axis.a.jog-enable <= hmi_i_pendant_jog_axis_4

# using the spindle encoder on the 7i76 card we need to specify 7 encoders when doing hostmot
# loadrt hm2_pci config="num_encoders=7
# because using the spindle encoder, it outputs 4x counts per click on hand wheel. Increments
# are scaled by 4x above.
# The encoder output counts to the axis. Only the selected axis will move.
net encoder-counts  <= hm2_5i25.0.encoder.06.count
net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts
net encoder-counts => axis.a.jog-counts

# second spindle is laser engraver PWM
# addf pwmgen.update servo-thread
# addf pwmgen.make-pulses servo-thread
# net laser-speed-cmd spindle.1.speed-out => pwmgen.0.value
# net laser-on spindle.1.on => pwmgen.0.enable # this should be P21 enable AND spindle.1.on 
# net laser-pwm pwmgen.0.pwm => optimat_o_laser_engraver_pwm
# Set the spindle's top speed in RPM
# setp pwmgen.0.scale 100

# 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


# 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
# better set the main spindle at speed now for debugging
sets spindle-at-speed true

# probing
net probe_in <= optimat_i_probe