' This program ramps a DC Motor's speed up and down 
' and forwards and backwards, using the L298 H-Bridge 
' on the OOBOT43-1 Controller Board.

' waits for SW1 press, then runs motor sequence 4 times.
 
Dim A As New oDCMotor2  ' motor A connected M1-to-M2
Dim B As New oDCMotor2  ' motor B connected M3-to-M4
Dim x as Byte

Dim sw1 as New oDio1    ' switch SW1 on RC0 (also Led L2)
Dim Frq As New oFreq    ' tone output on pin RC5
 
Sub Main() 

  A.IOLineP = 18	' PWM1
  A.IOLine1 = 24	' RD0
  A.IOLine2 = 25	' RD1
  A.Operate = 1
  A.Prescale = 1
  A.Brake = cvOff
 
  B.IOLineP = 17	' PWM2
  B.IOLine1 = 26	' RD2
  B.IOLine2 = 27	' RD3
  B.Operate = 1
  B.Brake = cvOff
 
  sw1.ioline = 16	' RC0 
  sw1.direction = cvinput

  Do
    if sw1=0 then 
      sw1.direction = cvoutput
      sw1 = 0  
      call motrun
      call motrun
      call motrun
      call motrun
    end if
    sw1.direction = cvinput
    oopic.delay = 2
  Loop 

End Sub

sub motrun()

    ' ramp velocity up+down in one direction.
    For x = 40 To 126
      A = x
      B = x
      OOPic.Delay = 20
    Next x
    OOpic.delay = 100

    For x = 0 to 40
      A = 126 - x
      B = 126 - x
      OOPic.Delay = 20
    Next x
     
    call play1
    ' ramp velocity up+down in other direction.
    For x = 0 To 126
      A = -1*x
      B = -1*x
      OOPic.Delay = 5
    Next x
    OOpic.delay = 100

    For x = 0 to 126
      A = -1*(126 - x)
      B = -1*(126 - x)
      OOPic.Delay = 5
    Next x

end sub


' play a short tune on the piezo on RC5
Sub Play1()

    Frq.Beep(64000,10)
    Frq.Beep(64500,10)
    Frq.Beep(65000,10)
    Frq.Beep(63500,5)
    Frq.Beep(63600,5)
    Frq.Beep(0,10)
    Frq.Beep(5500,10)
    Frq.Beep(0,10)
    Frq.Beep(5500,10)
    Frq.Beep(0,10)
 
End Sub