' =========================================================================
'
'   File....... PWMPAL_Servo.BS2
'   Purpose....
'   Author..... Jon Williams -- Parallax, Inc.
'   E-mail..... jwilliams@parallax.com
'   Started....
'   Updated.... 02 JAN 2005
'
'   {$STAMP BS2}
'   {$PBASIC 2.5}
'
' =========================================================================


' -----[ Program Description ]---------------------------------------------


' -----[ Revision History ]------------------------------------------------


' -----[ I/O Definitions ]-------------------------------------------------

PpPin           PIN     0                       ' PWMPAL Serial I/O


' -----[ Constants ]-------------------------------------------------------

#SELECT $stamp
  #CASE BS2, BS2E, BS2PE
    T9600       CON     84
    T19K2       CON     32
    T38K4       CON     6
  #CASE BS2SX, BS2P
    T9600       CON     240
    T19K2       CON     110
    T38K4       CON     45
#ENDSELECT

Baud            CON     T38K4


' -----[ Variables ]-------------------------------------------------------

s1Pos           VAR     Word                    ' servo 1 position
temp            VAR     Word                    ' work variable


' -----[ EEPROM Data ]-----------------------------------------------------


' -----[ Initialization ]--------------------------------------------------

Reset:
  SEROUT PpPin, Baud, ["!PWMSS", %00010000]     ' enable output (on P12)


' -----[ Program Code ]----------------------------------------------------

Main:
  FOR s1Pos = 1000 TO 2000 STEP 250             ' position is uS
    temp = s1Pos / 25                           ' convert to PWMPAL units
    SEROUT PpPin, Baud, ["!PWMM1",
                         temp.BYTE0, temp.BYTE1,
                         $20, $03]
    PAUSE 500
  NEXT
  GOTO Main

  END


' -----[ Subroutines ]----------------------------------------------------- 