' Program:  MOT43-V6.OSC
' This program ramps a DC Motor's speed
' up and down / forwards and backwards
' using a L298 H-Bridge.

' (revised: 01/10/08)
' modified for OOPic III+ v.C.1.1

Dim A As New oDCMotor2
Dim B As New oDCMotor2
Dim x As Byte

Dim sw1 As New oDIO1
Dim Frq As New oFreq

'////////////////////////////////////////
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.Prescale = 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
    Cmd.Delay = 2 

  Loop 
End Sub

' ///////////////////////////////////////
Sub motrun()

    ' ramp velocity up+down in one direction.
    For x = 40 To 126
      A = x
      B = x
      Cmd.Delay = 200
    Next x
    Cmd.Delay = 1000
'    A = 0
'    B = 0
    For x = 0 To 40
      A = 126 - x
      B = 126 - x
      Cmd.Delay = 200
    Next x
    
    Call Play1
    ' ramp velocity up+down in other direction.
    For x = 0 To 126
      A = -1*x
      B = -1*x
      Cmd.Delay = 50
    Next x
    Cmd.Delay = 1000
'    A = 0
'    B = 0
    For x = 0 To 126
      A = -1*(126 - x)
      B = -1*(126 - x)
      Cmd.Delay = 50
    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