' Program:  MOT41-V6.OSC
' (revised: 02/25/08)

' This program ramps DC Motor speed
' up and down & forwards and backwards
' using the SN754410 H-Bridges on the
' OOBOT40 controller board.

'  Modified for OOPic III+ v.C.1.1
'  chip, and compiler version 6.x.

' NOTES:
'  1. OOBOT40 jumpers J8+J9 should have lower 
'     2 pins on each connected together (PWM
'     out to h-bridge enable pins - factory
'	  default setting).
'  2. connect motor 1 across HDR3 M1+M2.
'  3. connect motor 2 across HDR4 M5+M6.
'  4. apply motor power from +M pin to ground.

' --- Declarations ---
Dim x As Byte			' general index

Dim M1 As New oDCMotor2   ' motor 1
Dim M2 As New oDCMotor2   ' motor 2
Dim pwmfrq As New oPWM    ' PWM motor speed 

Dim frq As New oFreqH
Dim spk As New oSpeaker

'////////////////////////////////////////
Sub Main()

  Call setup_motors
  Do
    Call jingle
    Call motrun_dir1
    Call play1
    Call motrun_dir2
  Loop 
  
End Sub

' /////////////////////////////////////////
Sub setup_motors()

  ' OOPic PWM peripheral must be configured 
  '   separately. Same PWM setup is used for 
  '   both motors. 
  Call setup_pwm
  
  ' the following setup is based upon the 
  '   OOBOT40 pcb wiring.
  ' motor M1 connected between HDR3 M1+M2.
  M1.IOLineP = 18			' PWM1 to U3-En1
  M1.IOLine1 = 24			' RD0 to U3-In1
  M1.IOLine2 = 25			' RD1 to U3-In2
  M1 = 0
  M1.Operate = 1
  M1.Brake = cvOff

  ' motor M2 connected between HDR4 M5+M6.
  M2.IOLineP = 17			' PWM2 to U4-En1
  M2.IOLine1 = 28			' RD4 to U4-In1
  M2.IOLine2 = 29			' RD5 to U4-In2
  M2 = 0
  M2.Operate = 1
  M2.Brake = cvOff

End Sub  

' ///////////////////////////////////////
Sub setup_pwm()

  ' PWM frequency = 5Mhz / (prescale*(period+1).

  ' NOTE - VERY IMPORTANT - the magnitude of 
  '   DCMotor2 Object values MUST BE LESS THAN 
  '   the PWM period value chosen. 
  pwmfrq.Period = 255
  
  ' Specific motors run better for specific PWM
  '   frequency values. Inexpensive toy motors
  '   generally run better with low PWM frequencies.
  ' Select prescale value from 1 of following 3 lines
  '   for best operation of specific motors used.
'   pwmfrq.PreScale = 0   ' prescale=1; freq=19531hz  
'   pwmfrq.PreScale = 1   ' prescale=4; freq=4882hz
  pwmfrq.PreScale = 2   ' prescale=16; freq=1220hz
  
  pwmfrq.Operate = 1
End Sub
  
' ///////////////////////////////////////
Sub motrun_dir1()

    ' ramp velocity up+down in one direction.
    ' (duty cycle starts above 0, since most motors
    '  do not turn on for very low values)
    For x = 40 To 125 Step 5
      M1 = x
      M2 = x
      ' send busy indicator.
      Call pip1
      Cmd.Delay = 200
    Next x
    Cmd.Delay = 1000

    For x = 40 To 125 Step 5
      M1 = 125 - x
      M2 = 125 - x
      Call pip1
      Cmd.Delay = 200
    Next x
    
End Sub

' ////////////////////////////////////////
Sub motrun_dir2()
    
    ' ramp velocity up+down in other direction.
    For x = 40 To 125 Step 5
      M1 = -1*x
      M2 = -1*x
      Call pip2
      Cmd.Delay = 200
    Next x
    Cmd.Delay = 1000

    For x = 40 To 125 Step 5
      M1 = -1*(125 - x)
      M2 = -1*(125 - x)
      Call pip2
      Cmd.Delay = 200
    Next x

End Sub

' ////////////////////////////////////
Sub play1()
    frq.Beep(64000,100)
    frq.Beep(64500,100)
    frq.Beep(65000,100)
    frq.Beep(63500,50)
    frq.Beep(63600,50)
    frq.Beep(0,100)
    frq.Beep(5500,100)
    frq.Beep(0,100)
    frq.Beep(5500,100)
    frq.Beep(0,100)
End Sub

' ///////////////////////////////////////
Sub pip1()
    frq.Beep(64286,2)	' 2000 hz
End Sub

' ///////////////////////////////////////
Sub pip2()
    frq.Beep(63036,2)	' 1000 hz
End Sub

' ///////////////////////////////////////
Sub jingle()
	E :E :E :P :E :E :E :P :E :G :C :D :E 
	ooPIC.Delay = 100
End Sub
 
Sub E() ' Plays note 'E'
	spk.Beep(61743,80,20)
End Sub

Sub G() ' Plays note 'G'
	spk.Beep(62346,80,20)
End Sub

Sub C() ' Plays note 'C' 
	spk.Beep(60757,80,20)
End Sub

Sub D() ' Plays note 'D'
	spk.Beep(61278,80,20)
End Sub

Sub P() ' Pauses 1/10 of a second
	ooPIC.Delay = 100
End Sub