; Variable spindle warmup. !! ONLY CALL FROM warmUpSpindleCall program in MDI!!
; @BTI_LTD Betz Technik Industries Ltd. (USE AT YOUR OWN RISK!!)

DEF INT _index = 1 ;step index
DEF INT _currentRPM = 0
DEF INT _spindPause = 0 ; Set in calling program for temp stop above 1000 rpm
; this is because the controller needs to stop to switch from position to velocity mode
DEF INT _rpmStepSize = 0 ; Set in calling program. RPM bump amount. default 500
DEF INT _rpmSteps = 0 ; See below
DEF INT _stepInterval = 0  ; See below
DEF INT _lastIndex = 0
DEF INT _flip = 0
DEF STRING[6] _motionCall ;not used currently
DEF REAL _currentSeconds
DEF REAL _currentTime= 0 ;minutes
DEF INT _currentMinutes ; step of minutes conversion
DEF REAL _currentMinutesTenths
DEF REAL _lastTime= 0 ;seconds since last index change
DEF REAL _startTime = 0 ;seconds since starting the warmup
DEF INT _timeRemaining ; time remaining until warmup complete
DEF INT _zSafe = 0 ; safe position for Z

DEF INT _Xmax =0
DEF INT _Xmin =0
DEF INT _Ymax =0
DEF INT _Ymin =0

_Xmax = R7; X+ location
_Xmin = R8; X- location
_Ymax = R9; Y+ location
_Ymin = R10; Y- location

_spindPause = R4 ; Set in calling program for temp stop above 1000 rpm
                 ; this is because the controller needs to stop to switch from
                 ;position to velocity mode
_rpmStepSize = R3 ; Set in calling program. RPM bump amount. default 500
_rpmSteps = (R2/_rpmStepSize) ; how many RPM steps. ex: 8000 rpm = 16 steps
_stepInterval = ((R1*60) / _rpmSteps) ; how long to spend at each RPM level in seconds
_zSafe = R12 ; Set in calling program for safe Z location

_lastTime = 0 
_startTime = $AC_CYCLE_TIME
G64 ; contnuous path

N04
IF ($P_TOOLNO == 0);
MSG ("Spindle is empty, please reset and install a tool prior to running warm-up")
M00
GOTOB N04;
ENDIF

N05
;IF ($P_TOOLNO > 0)  ; Dangerous to rotate certain tools fast
MSG("CURRENT TOOL WILL ROTATE TO "<<R2<<"RPM. SAFE? CYCLE START TO PROCEED")
M00
;T0M6 ; empty spindle
ENDIF

F=R5; set feed to slow as defined in call prog.
D=0;
SUPA Z = _zSafe; Move Z to safe location as defined in call prog.

; SPINDLE:

N10 
_currentSeconds = $AC_CYCLE_TIME
_currentTime= ($AC_CYCLE_TIME /60) * 10
_currentMinutes = _currentTime
_currentMinutesTenths = _currentMinutes/10
_timeRemaining = R1 - _currentMinutesTenths

N20
MSG("Warming spindle to " <<R2 <<". Time remaining: " << (_timeRemaining) << " minutes ")

IF _index == _lastIndex GOTOF N400

IF (_index <> 3) GOTOF N100
IF (_spindPause <> 1) GOTOF N100
M05
G04 F3
ENDIF

N100 S = (_index * _rpmStepSize)

M03
_currentRPM = (_currentRPM + _rpmStepSize)
_lastIndex = _index
ENDIF

N400 ;

; BED feedrate:

N410 IF (_index <= (_rpmSteps / 2)) 
F = R5
GOTOF N430
ENDIF
N420 IF (_index > (_rpmSteps / 2))
F = R6
ENDIF

; BED motion:

N430 IF _flip == 0 
SUPA X= _Xmin Y= _Ymin
_flip = 1
ENDIF
N440 IF _flip == 1 
SUPA X= _Xmax Y = _Ymax
_flip = 0
ENDIF

IF (_currentSeconds > (_stepInterval * _rpmSteps)) AND (_index == _rpmSteps) GOTOF N999
IF (_currentSeconds < (_lastTime + _stepInterval)) GOTOB N10
IF (_currentSeconds > (_lastTime + _stepInterval))
_index = (_index + 1)
_lastTime = _currentSeconds
GOTOB N10
ENDIF

N999 M5; Stop spindle

MSG ("CAUTION CUTTING EDGE HAS BEEN SET TO ZERO!!!")
M00

M30 ;
;