#id: flatTRACK_demo_cycle_IN6.py rev2 2026-03-12 oh
# Fullmo MovingCap CODE - micropython example.
# original file name: flatTRACK_demo_cycle_IN6.py

# Demo: position cycle triggered by IN6 input, with IN4 position as start and end position

# preconditions:
# - MovingCap flatTRACK, FATtrack or shortTRACK 
# - IN4 and IN6 configured and tested as "Timed Motion Absolute" in the web interface
#   with different target positions (see "IN Function Configurator" in the web interface)
# - IN6 Input function then set to "0000h - off" so this script can use it for action 

import mcdrive as mc
import time

while True:
    # If IN6 goes high, all other IN6 are low and no IN6 action is already set up via web configuration
    if (mc.ChkIn(6) != 0 and all(mc.ChkIn(i) == 0 for i in range(1, 10) if i != 6)
        and mc.ReadObject(0x3516, 0x01) == 0):
        pos_in4 = mc.ReadObject(0x3514, 0x08) # this is IN4 target position in the "IN Function Configurator"
        pos_in6 = mc.ReadObject(0x3516, 0x08) # this is IN6 target position in the "IN Function Configurator"
        print("script-based IN6 run started...")

        if (mc.ChkError() == 0):
            # Trigger IN4 position run
            ret = mc.WriteObject(0x3510, 0x02, 0x0404)
            time.sleep_ms(10) # make sure this run has started 
            while (mc.ChkReady() == 0):
                time.sleep_ms(1)

        if (mc.ChkError() == 0):
            # Trigger IN6 position run
            ret = mc.WriteObject(0x3510, 0x02, 0x0604)
            time.sleep_ms(10)
            while (mc.ChkReady() == 0):
                time.sleep_ms(1)
            
        if (mc.ChkError() == 0):
            # Back to IN4 target
            ret =  mc.WriteObject(0x3510, 0x02, 0x0404)
            time.sleep_ms(10)
            while (mc.ChkReady() == 0):
                time.sleep_ms(1)

        # wait for IN6 low again
        while mc.ChkIn(6) != 0:
            time.sleep_ms(1)
    # idle
    time.sleep_ms(1)