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'-----------------------------------------------------------------------
'                         (c) 2001-2005 MCS Electronics
'                           servo.bas demonstrates the SERVO option
'-----------------------------------------------------------------------
'Servo steuern mit dem RP6                                          6.3.2008 mic'

$regfile = "m32def.dat"
$crystal = 8000000

$hwstack = 32
$swstack = 8
$framesize = 8

'Dims --------------------------------------------------------------------------'

Dim Servopos1 As Byte
Dim Servopos2 As Byte
Dim Temp As Integer
Dim Stellzeit As Integer

'Ports -------------------------------------------------------------------------'

Config Porta.0 = Output
Config Porta.1 = Output


'Variablen vorbelegen ----------------------------------------------------------'

' Mitte ist ~80
Servopos1 = 10
Servopos2 = 150

'Hauptprogramm -----------------------------------------------------------------'

Disable Interrupts

Do
   For Stellzeit = 0 To 100
      Set Porta.0
      For Temp = 1 To Servopos1
         Waitus 10
      Next Temp
      Reset Porta.0

      Set Porta.1
      For Temp = 1 To Servopos2
         Waitus 10
      Next
      Reset Porta.1

     For Temp = 1 To 500
         Waitus 10
      Next
   Next Stellzeit

   If Servopos1 = 10 Then Servopos1 = 150 Else Servopos1 = 10
   If Servopos2 = 45 Then Servopos2 = 125 Else Servopos2 = 45
Loop

Config Servos = 2 , Servo1 = Portb.0 , Servo2 = Portb.1 , Reload = 10

Config Portb = Output

Enable Interrupts

Servo(1) = 100
Servo(2) = 100
waitms 1000