'****************************************************************
'*  By        : Comana Gian Luca		                        *
'*  Notice    : DIGITAL SERVO TEST                              *
'*              All Rights Reserved                             *
'*  Date      : 20/08/2000                                      *
'*  Version   : 2.10                                            *
'*  Revision  :                                                 *
'*  Notes     :  http://www.rcmodellismo.it                     *
'****************************************************************
		Device 16F84A					
		Declare XTAL 4	
		
	i VAR WORD
	b VAR WORD
	c VAR WORD
	e VAR WORD
	sx VAR WORD
	cx VAR WORD
	dx VAR WORD
	
	IF PORTA.2 = 1 Then 					
		sx = 1000 
		cx = 1500
		dx = 2000
	Else
		sx = 900
		cx = 1500
		dx = 2100
	EndIF

		High 0						'reset
		Pause 250
		Low 0
		Pause 250
		High 0
		Pause 250


	IF PORTB.5 = 0 AND PORTA.0 = 0 Then GoTo Test2 		'test ingranaggi

	IF PORTA.0 = 0 Then GoTo Test0			 	'test potenziometro

Test1:								'test fisso

	i = cx
	e = cx
	IF PORTA.1 = 0 Then 
	i = sx
	e = sx
	EndIF
loop1:	 			

	IF i = sx Then
		High 0 
		Low 1
	EndIF
	IF i = cx Then
		High 0
		High 1
	EndIF
	IF i = dx Then
		Low 0
		High 1 
	EndIF

	IF e < i Then e = e + 10
	IF e > i Then e = e - 10
	IF PORTB.4 = 0 OR PORTB.6 = 0 Then GoTo Loop1a
	High 2
	PauseUs e
	Low 2
	PauseUs 23000

	IF e = i Then					'tasto cx 
		IF PORTB.5 = 0 AND e >= sx Then i = cx
		IF PORTB.5 = 0 AND e >= cx Then i = dx
		IF PORTB.5 = 0 AND e >= dx Then i = sx
	EndIF


	GoTo loop1 
End

loop1a:				'tasti sx dx

	
	IF e < cx Then
		High 0 
		Low 1
	EndIF
	IF e = cx Then
		High 0
		High 1
	EndIF
	IF e > cx Then
		Low 0
		High 1 
	EndIF

	IF PORTB.5 = 0 Then 

		High 0
		High 1

	For b = 1 TO 20
		High 2
		PauseUs e
		Low 2
		PauseUs 23000
		Next b

		i = e DIG 0
		i = 10 - i
		e = i + e
		i = cx
	GoTo Loop1
	EndIF

	IF PORTB.4 = 0 Then e = e - 1


	IF PORTB.6 = 0 Then e = e + 1


	IF e > dx Then
		e = dx
		High 0
		EndIF
  	IF e < sx Then 
		e = sx
		High 1
		EndIF
	High 2
	PauseUs e
	Low 2
	PauseUs 23000


	GoTo loop1a
End

End

	Test0: '      					test potenziometro

	For i = sx TO dx
		c = ( sx + dx ) - i
	IF PORTB.5 = 0 Then GoTo Test0
	High 0
	For b = 1 TO 5
	High 2
	PauseUs c
	Low 2
	PauseUs 23000
	Next b
	Low 0

	For b = 1 TO 20
	High 2
	PauseUs c
	Low 2
	PauseUs 23000
	Next b

	Next i
	
	For i = sx TO dx
	IF PORTB.5 = 0 Then GoTo Test0

	High 0
	For b = 1 TO 5
	High 2
	PauseUs i
	Low 2
	PauseUs 23000
	Next b
	Low 0

	For b = 1 TO 20
	High 2
	PauseUs i
	Low 2
	PauseUs 23000
	Next b

	Next i

        GoTo Test0   
	End

Test2: '				test ingranaggi


	For i = sx TO dx STEP 5
		c = ( sx + dx ) - i

	High 0

	High 2
	PauseUs c
	Low 2
	PauseUs 23000

	Low 0

	For b = 1 TO 2
	High 2
	PauseUs c
	Low 2
	PauseUs 23000
	Next b

	Next i
	
	For i = sx TO dx STEP 5

	High 0

	High 2
	PauseUs i
	Low 2
	PauseUs 23000

	Low 0

	For b = 1 TO 2
	High 2
	PauseUs i
	Low 2
	PauseUs 23000
	Next b

	Next i

        GoTo Test2 
	End