---------------------------------------------------------------
-- Toggle  A Axis Continuous rotation On/Off
---------------------------------------------------------------
function A_AxisOnOff()
	local inst = mc.mcGetInstance("A_AxisOnOff()")
	
	if (A_Axis_State == nil) then 
		A_Axis_State = 0 --initialize it to OFF from screen load script run
	
	elseif (A_Axis_State == 0) then  --turn in ON
		
		--Get Rotation Direction from screen button
		DirButtonState = scr.GetProperty('togReverse', 'Button State')
		if (DirButtonState == "0") then
			RotationDirection = mc.MC_JOG_NEG
		else
			RotationDirection = mc.MC_JOG_POS
		end

		--Get RPM from DRO
		local A_Axis_rpm = scr.GetProperty('droA_Axis_rpm', 'Value') --gets dro rpm setting
		A_Axis_rpm = tonumber(A_Axis_rpm)  --convert string to number
		
		
		--Check that DRO setting is valid
		if ((A_Axis_rpm < 1) or (A_Axis_rpm > 200)) then  --check for valid rpm input
			wx.wxMessageBox("rpm  must be between 1 and 200")
			do return end
		end	
		
		--set up the A Axis to a OB motor
		mc.mcAxisEnable(inst, mc.A_AXIS, false)
		mc.mcAxisUnmapMotor(inst, mc.A_AXIS, mc.MOTOR4)
		mc.mcAxisMapMotor(inst, mc.OB1_AXIS, mc.MOTOR4)
		mc.mcAxisEnable(inst, mc.OB1_AXIS, true)
		
		--start jogging
		local A_Axis_upm = A_Axis_rpm * 360
		mc.mcJogSetFeedRate(inst, mc.OB1_AXIS, A_Axis_upm)
		mc.mcJogVelocityStart(inst, mc.OB1_AXIS, RotationDirection)
		
		scr.SetProperty('bmbA_Cont_rotationOnOff', 'Image', 'toggle_ON.png')
		A_Axis_State = 1	
	
	else  --turn it OFF
		
		--stop jogging
		mc.mcJogVelocityStop(inst, mc.OB1_AXIS)
		
		--wait until the motor is stopped	
		IsStopping = mc.mcJogIsStopping(inst, mc.OB1_AXIS)
		while (IsStopping == 1) do
			IsStopping = mc.mcJogIsStopping(inst, mc.OB1_AXIS)
		end
	
		--revert motor back to A-axis
		mc.mcAxisEnable(inst, mc.OB1_AXIS, false)
		mc.mcAxisUnmapMotor(inst, mc.OB1_AXIS, mc.MOTOR4)
		
		wx.wxMilliSleep(75)  --wait a little so the motor doesn't clunk when it gets remapped
		mc.mcAxisMapMotor(inst, mc.A_AXIS, mc.MOTOR4)
		mc.mcAxisEnable(inst, mc.A_AXIS, true)	
		
		scr.SetProperty('bmbA_Cont_rotationOnOff', 'Image', 'toggle_OFF.png')
		mc.mcAxisDeref(inst,mc.A_AXIS)  --deref A axis since its position is now unknown
		A_Axis_State = 0
	end
end