'Demonstrates a Dios connected to a SN754410
'Set pin to port connections in the init function
func main()
  
  print "reset"

  initMC()

again:
  MC_setspeed(255)
  MC_m1fwd()
  MC_m2rev()
  pause 3000
  MC_m1rev()
  MC_m2fwd()
  pause 3000

  MC_setspeed(245)
  MC_m1fwd()
  MC_m2rev()
  pause 3000
  MC_m1rev()
  MC_m2fwd()
  pause 3000

goto again
endfunc


'You must call this function before calling 
' The others.  You can also change the pinout.
func initMC()
  'Set up some contstants
  gconst Enable1 13 'Must be this port with PWM
  gconst Enable2 4 'Must be this port wih PWM
  gconst M1InputA 0
  gconst M1InputB 1
  gconst M2InputA 2
  gconst M2InputB 3
  
  'Set port direction
  output Enable1,M1InputA,M1InputB
  output Enable2,M2InputA,M2InputB
  MC_m1stop()
  MC_m2stop()

  initPWM(2)
  PWMcourse(0)
  PWMperiod(255)
  MC_setspeed(255)
endfunc

'Motor1 forward
func MC_m1fwd()
  high M1InputA
  low M1InputB
endfunc

'Motor1 Reverse
func MC_m1rev()
  low M1InputA
  high M1InputB
endfunc

'Motor2 forward
func MC_m2fwd()
  high M2InputA
  low M2InputB
endfunc

'Motor2 Reverse
func MC_m2rev()
  low M2InputA
  high M2InputB
endfunc

'Motor1 stop
func MC_m1stop()
  low M1InputA
  low M1InputB
endfunc

'Motor2 Stop
func MC_m2stop()
  low M2InputA
  low M2InputB
endfunc

func MC_setspeed(value)
  value.bit(8)=1
  value.bit(9)=1
  PWM1duty(value) 'Motor 1 speed
  PWM2duty(value) 'Motor 2 speed
endfunc

include \lib\DiosHWPWM.lib