From d0370c4fa9176f495860e86cb3e581d8e6e3b535 Mon Sep 17 00:00:00 2001
From: bdring <barton.dring@gmail.com>
Date: Mon, 14 Jun 2021 09:46:51 -0500
Subject: [PATCH] WIP PWM Spindle

---
 Grbl_Esp32/data/config.yaml            | 16 +++++++++++-----
 Grbl_Esp32/src/Spindles/PWMSpindle.cpp | 14 ++++++++------
 2 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/Grbl_Esp32/data/config.yaml b/Grbl_Esp32/data/config.yaml
index aa7b18e9..94ade51a 100644
--- a/Grbl_Esp32/data/config.yaml
+++ b/Grbl_Esp32/data/config.yaml
@@ -84,10 +84,16 @@ probe:
     pin: gpio.32:low:pu
 
 PWM:
+  min_rpm: 200
+  max_rpm: 1000
+  pwm_freq: 5000
+  pwm_off: 0.000
+  pwm_min: 20.000
+  pwm_max: 100.000
+  invert_pwm: true
   output_pin: gpio.2
   enable_pin: gpio.22
-  pwm_off: 0.0
-  pwm_min: 0.0
-  pwm_max: 100.0
-  min_rpm: 0
-  max_rpm: 1000
+  direction_pin: gpio.21
+  enable_off_with_zero_speed: true
+  spinup_delay_ms: 2000
+  spindown_delay_ms: 1000
diff --git a/Grbl_Esp32/src/Spindles/PWMSpindle.cpp b/Grbl_Esp32/src/Spindles/PWMSpindle.cpp
index 70ec08b9..a683b423 100644
--- a/Grbl_Esp32/src/Spindles/PWMSpindle.cpp
+++ b/Grbl_Esp32/src/Spindles/PWMSpindle.cpp
@@ -100,19 +100,21 @@ namespace Spindles {
             return;  // Block during abort.
         }
 
+        int32_t delayMillis;
+
         if (state == SpindleState::Disable) {  // Halt or set spindle direction and rpm.
             sys.spindle_speed = 0;
             stop();
-            if (use_delays && (_current_state != state)) {
-                delay(_spindown_delay);
-            }
+            delayMillis = _spindown_delay;
         } else {
             set_direction(state == SpindleState::Cw);
             set_rpm(rpm);
             set_enable(state != SpindleState::Disable);  // must be done after setting rpm for enable features to work
-            if (use_delays && (_current_state != state)) {
-                delay(_spinup_delay);
-            }
+            delayMillis = _spinup_delay;
+        }
+
+        if (_current_state != state && use_delays) {
+            delay(delayMillis);
         }
 
         _current_state = state;