Day Forty-Seven

As I promised, CODE!


Interface Test #1

CON
  _xinfreq = 5000000
  _clkmode = xtal1 + pll16x


  counthi = $27
  countlow = $10
  speedy = $80


OBJ
  debug:"FullDuplexSerialPlus"
  bob:"MMBe"
                                          
PUB Main
 Comm


 repeat
   Display
                                                                                             
PUB Comm
  debug.start(31,30,0,57600)
  bob.start(3,4,2400)
  waitcnt(clkfreq+cnt)
  debug.tx(16)


PUB Display | key, forward, reverse, power, xf, xr, status, a, b
  xr:=0
  xf:=0


  repeat until xf == 1 or xr ==1
    debug.str(string(13,"press F or R for direction"))
    key:=debug.rx
    debug.tx(13)
    debug.tx(key)
    debug.dec(key)                              
    debug.tx(13)


    status := bob.getstatus                                     
    debug.dec(status)  


    if key == 102  
      xf:=1
      debug.str(string(13,"Motor is moving forward"))
      bob.setdir(0)
      bob.set(200)
  
    if  key == 114
      xr:=1
      debug.str(string(13,"Motor is moving in reverse"))
      bob.setdir(1)
      bob.set(200)


    if key == 115
      bob.motorstop
                                
 if xf == 1 or  xr == 1                        
   debug.str(string(13, "yay it worked"))
   
Interface Test #2

CON
  _xinfreq = 5000000
  _clkmode = xtal1 + pll16x
   
OBJ
  Debug : "FullDuplexSerialPlus"
    MMB : "MMBe"


VAR
  byte counthi, countlow, Speed, dir, trip
  word MoveCount, TotalCount                                


PUB Main
 Comm


 waitcnt(clkfreq+cnt)
    Totalcount := mmb.readHiCount
      Debug.dec(Totalcount)
      Debug.tx(13)


 repeat 
   MoveCount := debug.getdec
   Speed := debug.getdec
   dir := debug.getdec
   mmb.setdir(dir) 

   outb[15..0]:= MoveCount
   counthi := outb[15..8]
   countlow := outb[7..0]
   Debug.tx(13) 
   Debug.dec (mmb.encode(counthi,countlow,speed))


   repeat 
     Totalcount := mmb.readHiCount
     Debug.dec(Totalcount)
     Debug.tx(13)


     {if totalcount > 10000 and trip == 0
        trip :=1
        mmb.encode(counthi,countlow,60)} 
  
PUB Comm
  debug.start(31,30,0,57600)
  mmb.start(3,4,2400)
  waitcnt(clkfreq+cnt)
  debug.tx(16)


PUB Display | key
  mmb.set(128)


  repeat 
    key:=debug.getdec
   
Speed Control

CON
  _xinfreq = 5000000
  _clkmode = xtal1 + pll16x
   
OBJ
  Debug : "FullDuplexSerialPlus"
    MMB : "MMBe"


VAR
  byte counthi, countlow, Speed, dir, trip
  word MoveCount, TotalCount

PUB Main | x
  Comm
  mmb.speedcon_mode
  x := 0
    movecount := debug.getdec
    outb[15..0]:= MoveCount
    counthi := outb[15..8]
    countlow := outb[7..0]


  repeat 
    x++
    mmb.speedcon(counthi,countlow)
    waitcnt(clkfreq*2 +cnt)
    mmb.motorrev
  
PUB Comm


  debug.start(31,30,0,57600)
  mmb.start(1,2,2400)
  waitcnt(clkfreq+cnt)
  debug.tx(16)