''Index_Interface.spin
{{  This step motor drive is tuned for a simple step & direction pulsed output for high current and voltage drives
    It will produce a modulated high frequency ramp up & down with a slewing plato on long drives
    You must use a drive that can produce 70 to 90 vdc output for the motors to be able to follow the higher frequency out puts
    The Z drive is tuned for a nema 42 motor drawing 6.3 amps & 400 resolution with a 10:1 gear ratio
    X & Y drives use nema 34 motors @3.5 amps & 2000 resolution with 3:1 gear ratio
    This combination will give a high resolution motion with fast movments to targets. You can only move one drive at a time 
    but you can move them accuratly and fast with a simple adjusting ramp for speed adjustments.
    
}}
CON 
  _clkmode = xtal1 + pll16x
  _xinfreq = 5_000_000
      
OBJ  
  com1: "FullDuplexSerialPlus"
  driver: "StepDriver"
PUB Interface | pin, lowSp, ramp, rampInc, steps, dir, valueI, valueII
  
  com1.start(31, 30, 0, 57600)
  com1.rxflush
  
  com1.str(string("Ready", 10, 13, 10, 13))
  'waitcnt(1_000 + cnt)
  dira[0] := 1
             
    lowSp    := 80_000             '' 80_000
    ramp     := 1_000              '' 1_000
    
    pin      := com1.getdec       '' output pin
    rampInc  := com1.getdec       '' values between 10 and 79 max slow ramp to fast ramp
    steps    := com1.getdec       '' values between 1 and 1,000,000  
    dir      := com1.getdec       '' 0 = normal rotation 1 = reverse rotation    dir on pin zero

    if dir > 0
          outa[0] := 1        ''rotation ccw
    else                                                              
  
           outa[0] := 0       ''rotation cw
        
    valueI := steps / 2 - 1    ''calculate ramp                                                                                       
  
    if valueI < 2               '' test ramp for min
        valueI := 2
    
    if ramp > valueI       '' made a long drive slew
      ramp := valueI
      
    if steps < 10          '' min steps driver can handle
     steps := 10 
    
    valueII := lowSp  / ramp
    if rampInc > valueII
       rampInc := valueII - 10
                              
   driver.Start(pin, lowSp, ramp, rampInc, steps)
  Wait
  
Pri Wait  | bizy
   bizy := 0
  repeat while bizy := 0                               
        bizy := driver.done
          if bizy > 0
              com1.str(string("Done", 10, 13, 10, 13))
            reboot
  