#include "KMotionDef.h"

#define SPINDLEAXIS 6
#define FACTOR (1000/60) //1000 counts/sec / 1000 counts/rev = 1 RPS = 60 RPM
#define SPINDLECW_BIT 40
#define SPINDLECCW_BIT 41
#define SPEEDVAR 99
#define STATEVAR 98
#define KMVAR 1


// desired speed is passed from KMotionCNC in variable KMVAR
// save in user variable STATEVAR whether it was off, CW, or CCW (0,1,-1)
// save in user variable SPEEDVAR the last desired speed

main()
{
	float speed = *(float *)&persist.UserData[SPEEDVAR];  // value stored is actually a float 
	float LastState = persist.UserData[STATEVAR];  // get last state 
	
	if (LastState==1)  
	{
		// if spindle was CW now we want CCW 
		// spin down
		
		ClearBit(SPINDLECW_BIT);
		//ClearBit(SPINDLECCW_BIT);
		Jog(SPINDLEAXIS,0);
		Delay_sec(3.000);		//Wait for Spindle to Stop
	}
	
	// turn spindle on CCW and ramp to new speed
	SetBit(SPINDLECCW_BIT);
	
	// spindle is already on, so ramp to new speed
	Jog(SPINDLEAXIS,speed * FACTOR);
	printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
	printf("FACTOR %f counts/sec\n",FACTOR);
	
	persist.UserData[STATEVAR] = -1;  // remember we are CCW
}