local DustBoot = {}

-- Dustshoe Entry Settings
local inst = mc.mcGetInstance()

local hreg, rc, ignoreDustBoot
local DustBootX = 46.2057	
local DustBootY = 11
local DustbootZ = -3.7143
local DustbootRateY = 100
local DustBootRateZ = 200
local DustBootYSlide = 4	
local DustBootStatus

hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/ignoreDustBoot")

if (rc == 0) then
    ignoreDustBoot, rc = mc.mcRegGetValue(hreg)
	hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootX")
	DustBootX, rc = mc.mcRegGetValue(hreg)
	
	hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootY")
    DustBootY , rc = mc.mcRegGetValue(hreg)
	
	hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootZ")
	DustBootZ, rc = mc.mcRegGetValue(hreg)


	hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootRateY")
	DustBootRateY, rc = mc.mcRegGetValue(hreg)

	hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootRateZ")
	DustBootRateZ, rc = mc.mcRegGetValue(hreg)

    hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootYSlide")
	DustBootYSlide, rc = mc.mcRegGetValue(hreg)

    hreg, rc = mc.mcRegGetHandle(inst, "iRegs0/DustBoot/DustBootStatus")
	DustBootStatus, rc = mc.mcRegGetValue(hreg)	
else
    ignoreDustBoot = 0
end

														------ How far from dustshoe to start with Y Park Movement
	
-- =========================================================== drop dust boot =============================================================================
function DropDustBoot()

    if (ignoreDustBoot == 1 or DustBootStatus == 0) then
      do return end
    end

	GCode = "G00 G90 G53 Z-1\n" 																				------ Z Up	
	rc = mc.mcCntlGcodeExecuteWait(inst, GCode) 

	if (rc ~= 0) then
		do return end
	end
	GCode =  string.format("G00 G90 G53 X%.4f Y%.4f \n", DustBootX, DustBootY-DustBootYSlide) 		------ TO DUSTSHOE ENTRY
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
				
	GCode =  string.format("G00 G90 G53 Z%.4f\n", DustBootZ) 												------ TO DUSTSHOE Z
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
				
	GCode = string.format("G01 G90 G53 Y%.4f F%.4f\n", DustBootY,DustBootRateY)								------ MOVE Y INTO DUSTSHOE HOLDER
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
				
	GCode = "G00 G90 G53 Z-1\n" 																				------ PICK UP Z --- DROP SHOE IN HOLDER -- 
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
				
	GCode =  string.format("G00 G90 G53 Y%.4f \n", DustBootY-DustBootYSlide) 							------ MOVE TO SAFE Y
	mc.mcCntlGcodeExecuteWait(inst, GCode)
	hreg = mc.mcRegGetHandle(inst, "DustBoot/DustBootStatus")
	mc.mcRegSetValue(hreg, 0)
end


--  ============================================================ PICKUP DUST SHOE ==========================================================================	
	
function PickupDustBoot()	 
	if (ignoreDustBoot == 1 or DustBootStatus == 1) then
      do return end
    end
	local toolnum, rc = mc.mcToolGetCurrent(inst)
    if (toolnum == 0) then
		do return end
	end
	
	mc.mcCntlGcodeExecuteWait(inst, "G00 G90 G53 Z-1.0\n")													------ Z UP
	 
	GCode =  string.format("G00 G90 G53 X%.4f\n", DustBootX) 											------ To DustShoe Entry X 
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
				
	GCode =  string.format("G00 G90 G53 Y%.4f\n", DustBootY) 											------ To DustShoe Entry Y 
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
	
	GCode = string.format("G00 G90 G53 Z%.4f\n", DustBootZ+0.75)											------ G00 Quick down to 20mm above DustShoe Pick Up 
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
	
	GCode = string.format("G01 G90 G53 Z%.4f F%.4f\n", DustBootZ,DustBootRateZ)							------ DustShoe Pick Up 
	mc.mcCntlGcodeExecuteWait(inst, GCode) 
				
	GCode = string.format("G01 G90 G53 Y%.4f F%.4f\n", DustBootY-DustBootYSlide,DustBootRateY)		------ DustShoe SlideOutY 
	mc.mcCntlGcodeExecuteWait(inst, GCode)
	hreg = mc.mcRegGetHandle(inst, "DustBoot/DustBootStatus")
	mc.mcRegSetValue(hreg, 1)
end	

if mc.mcInEditor() == 1 then
	DropDustBoot()
	PickupDustBoot()
end

return DustBoot