' =========================================================================
' File...... HB-25 Motor Test.bs2
' Purpose... Tests One Or Two HB-25's Connected To P15
' Author.... Parallax, Inc.
' E-mail.... support@parallax.com
' Updated... 01-18-2006
'
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ Program Description ]---------------------------------------------
' This program tests the HB-25 by waiting for it to power up, then pulsing
' the output to ramp the motors up in opposite directions, wait 3 seconds
' then ramp them back down to a stopped position. While the code is
' written for two HB-25/motors you can use it with just one by commenting
' out or removing the lines for the second motor, commented below. If you
' have two HB-25/motors connected, remember to remove the jumper block from
' the second HB-25.
' -----[ I/O Definitions ]-------------------------------------------------

  HB25 PIN 15                         ' I/O Pin For HB-25

' -----[ Variables ]-------------------------------------------------------

  index VAR Word                      ' Counter For Ramping

' -----[ Initialization ]--------------------------------------------------

  DO : LOOP UNTIL HB25 = 1            ' Wait For HB-25 Power Up
    LOW HB25                          ' Make I/O Pin Output/Low
    PAUSE 5                           ' Wait For HB-25 To Initialize
    PULSOUT HB25, 750                 ' Stop Motor 1
   ' PAUSE 1                           ' 1 mS Delay
   ' PULSOUT HB25, 750                 ' Stop Motor 2 (If Connected)

' The Above 2 Lines May Be Removed
' If You Are Using Single Mode
' -----[ Program Code ]----------------------------------------------------

Main:
  PAUSE 20                            ' Wait 20 mS Before Ramping
  FOR index = 0 TO 150                ' Ramp Up To Full Speed
    PULSOUT HB25, 750 + index         ' Motor 1 Forward
    PAUSE 1                           ' 1 mS Delay For Motor 2 Pulse
    'PULSOUT HB25, 750 - index         ' Motor 2 Reverse
    'PAUSE 20                          ' 20 mS Smoothing Delay
  NEXT
  PAUSE 4000                          ' Wait 3 Seconds
  FOR index = 150 TO 0                ' Ramp Back Down
    PULSOUT HB25, 750 + index         ' Motor 1 Forward Slowing
    PAUSE 1                           ' 1 mS Delay For Motor 2
   ' PULSOUT HB25, 750 - index         ' Motor 2 Reverse Slowing
   ' PAUSE 20                          ' 20 mS Smoothing Delay
  NEXT
  PAUSE 20                            ' Wait 20 mS Before Ramping
'  FOR index = 0 TO 150                ' Ramp Up To Full Speed
'    PULSOUT HB25, 750 + index         ' Motor 1 Forward
'    PAUSE 1                           ' 1 mS Delay For Motor 2 Pulse
    'PULSOUT HB25, 750 - index         ' Motor 2 Reverse
    'PAUSE 20                          ' 20 mS Smoothing Delay
'  NEXT
'  PAUSE 4000                          ' Wait 3 Seconds
'  FOR index = 150 TO 0                ' Ramp Back Down
'    PULSOUT HB25, 750 + index         ' Motor 1 Forward Slowing
'    PAUSE 1                           ' 1 mS Delay For Motor 2
   ' PULSOUT HB25, 750 - index         ' Motor 2 Reverse Slowing
   ' PAUSE 20                          ' 20 mS Smoothing Delay
'  NEXT
  STOP                                ' Use STOP To Prevent State Change 