'-------------- Device Params -----------------------
Params
End Params

'-------------- Define (dim) Global Variables --------
Dim homefound as integer
Dim targetposition as integer
Dim speed as integer 'speed of initial move to sprayposition
Dim accel as integer 'acceleration for all moves
Dim decel as integer 'deceleration for all moves

MBInfo
End
'-------------- Main Program -------------------------
Main
DRV.SWENABLE = 0
homefound = 0

'Enable Interrupts
INTR.HWLS.POSSTATE = 1
INTR.HWLS.NEGSTATE = 1 'used for homing if home input not reached before limit switch
Intr.DRV.FAULTS = 1
INTR.DISABLE = 1
INTR.DRV.HWENABLE = 1

'Set default values
targetposition = 1016 'total distance, in 0.001mm
speed = 200 'speed of initial move to targetposition
accel = 1000
decel = 1000

Move.Acc = accel  ' Acceleration (drive units)
Move.Dec = decel  ' Deceleration (drive units)
While DRV.HWENABLE = 0  : Wend 'wait for hardware enable

'While 1 = 1 'start continuous loop

DRV.SWENABLE = 0 'enable drive

'Homing, homing uses Input 3 to start homing and Input 4 for the position capture
'the negative limit switch inturrupt is also used for homing
If homefound = 0 Then 'If axis has not been homed, then ...
	Print "waiting for input 3"
	While DIN3.STATE = 0 : Wend 'wait for the start home command
	'start the homing routine
	CAP0.MODE = 0 'standard position capture
	CAP0.TRIGGER = 3 'Use input 4 for position capture
	CAP0.EDGE = 1 'positive edge
	CAP0.EVENT = 0 'no pre-conditions must be met
	CAP0.EN = 1 'Start looking for the capture trigger
	MOVE.RUNSPEED = 200
	MOVE.DIR = 1 'negative direction
	MOVE.GOVEL 'start moving
	Print "waiting for input 4"
	While CAP0.STATE = 0 : Wend 'wait for the capture to trigger, if hits neg limit switch then run interrupt
	Print "captured"
	MOVE.RUNSPEED = 0
	MOVE.GOVEL 'stop moving, zero speed
	While MOVE.MOVING = 1 : Wend 'wait for motion to stop
	MOVE.POSCOMMAND = (PL.FB - CAP0.PLFB ) 'set position to the difference between the actual position and captured position
	Pause (.2)
	MOVE.RUNSPEED = 50
	MOVE.TARGETPOS = 0
	MOVE.GOABS 'move back to the captured position
	Pause (1) 'this is the end of the homing routine
	homefound = 1 'set homefound tag
	Print "home found"
	Print "end of homing"
End If

While 1 = 1
While DRV.HWENABLE = 0  : Wend
Move.RunSpeed = speed
Move.TargetPos = targetposition
MOVE.GOREL
Print "moving"
While MOVE.MOVING = 1 : Wend
Print "finished moving"
Pause (1) 'wait a second before looping to move again

Wend 'loops back to "While 1 = 1"
End Main

'-------------- Subroutines and Functions ------------

'-------------- Interrupt Routines -------------------
Interrupt HWLS.NEGSTATE
	If homefound = 0 Then 'move to the positive side of the home switch
		While MOVE.MOVING = 1 : Wend 'wait to stop moving
		MOVE.DIR = 0 'positive direction
		MOVE.RUNSPEED = 50 'mm/s
		MOVE.GOVEL 'start moving
		While DIN4.STATE = 0 : Wend 'wait to get on the home switch
		While DIN4.STATE = 1 : Wend 'find positive edge of home switch
		Pause (0.5)
		MOVE.RUNSPEED = 0
		MOVE.GOVEL 'stop moving, zero speed
		While MOVE.MOVING = 1 : Wend 'wait to stop moving
		CAP0.EN = 1 'Start looking for the capture trigger
		MOVE.DIR = 1 'negative direction
		MOVE.RUNSPEED = 50 'mm/s
		MOVE.GOVEL 'start moving
	ElseIf homefound = 1 Then
		Print "Restarting - Neg Limit"
		Restart
	End If
    INTR.HWLS.NEGSTATE = 1
End Interrupt

Interrupt HWLS.POSSTATE
	Print "Restarting - Pos Limit"
	Restart
End Interrupt

Interrupt DRV.HWENABLE
	Print "Restarting - HW Enable"
	Restart
End Interrupt

Interrupt DRV.FAULTS
	Print "Restarting - Fault"
	Restart
End Interrupt