--This macro will configure Motor 4 as an OB motor and turn on continuous rotation
--The call must pass cw (1) or ccw (-1) as the rotation direction, and an rpm value between 0 and 200
--Format is m3000 D<value> R<value>
--Example usage:  m3000 D-1 R120

function m3000(hParam)
    local inst = mc.mcGetInstance("m3000()");


	--check that passed parameters are there
    if (hParam == nil) then
		mc.mcCntlSetLastError(inst, "No parameters passed")
	do return end
	end

				
	--Get the parameters
	local dVal = mc.mcCntlGetLocalVar(inst, hParam, mc.SV_D)
	local dFlag = mc.mcCntlGetLocalVarFlag(inst, hParam, mc.SV_D)
	--mc.mcCntlSetLastError(inst, 'dVal handle == ' .. tostring(dVal))
	--mc.mcCntlSetLastError(inst, 'dFlag handle == ' .. tostring(dFlag))
		
	local rVal = mc.mcCntlGetLocalVar(inst, hParam, mc.SV_R)
	local rFlag = mc.mcCntlGetLocalVarFlag(inst, hParam, mc.SV_R)
	--mc.mcCntlSetLastError(inst, 'rVal handle == ' .. tostring(rVal))
	--mc.mcCntlSetLastError(inst, 'rFlag handle == ' .. tostring(rFlag))
		

	--Bail out if both parameters are not there
    if (dFlag ~= 1) and (rFlag ~= 1)then
		mc.mcCntlSetLastError(inst, "The parameters are not properly passed")
	do return end
	end	
				
				
	mc.mcCntlSetLastError(inst, "Location 2")
		
	--Set the rot dir value
	if (dVal == 1.0) then
		RotationDirection = mc.MC_JOG_NEG
	elseif (dVal == -1.0) then
		RotationDirection = mc.MC_JOG_POS
	else
		mc.mcCntlSetLastError(inst, "rotation parameter is invalid, must be +1, or -1")
	do return end
	end
	
		
	--Check that DRO setting is valid
	if ((rVal < 1) or (rVal > 200)) then  --check for valid rpm input
		mc.mcCntlSetLastError(inst, "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 = rVal * 360
	mc.mcJogSetFeedRate(inst, mc.OB1_AXIS, A_Axis_upm)
	mc.mcJogVelocityStart(inst, mc.OB1_AXIS, RotationDirection)
			
end

if(mc.mcInEditor() == 1) then
    m3000()
end