$crystal = 1000000

'*******************************************************************************
'*****                 Servo Tester Program Version 1.0                     ****
'*****                                                                      ****
'*****                   By Earl  Bollinger 10/20/2002                      ****
'*****                                                                      ****
'*****    This program uses the BASCOM Basic Compiler                       ****
'*****     for Atmel AVR MCU's see www.mcselec.com for more                 ****
'*****     information about it.                                            ****
'*****                                                                      ****
'*****    This program is for the Atmel AT90s2343 Risc MCU's (www.atmel.com)****
'*****      It can be easily modified for other Atmel AVR chips.            ****
'*****      For most AVR chips, changing the CPU clock speed and type       ****
'*****      and adjusting the servo pulsewidth variables is all that is     ****
'*****      needed.
'*****                                                                      ****
'*****   The program is setup to use the default 1mhz internal RC clock     ****
'*****     option on the 2343 MCU.                                          ****
'*****   PinB.4 is a dual purpose I/O pin depening on the                   ****
'*****     jumper, a LED indicator or a Servo Pulse signal output           ****
'*****   PinB.0 is the fast or slow servo movement option                   ****
'*****   PinB.1 is the 1ms pulse option                                     ****
'*****   PinB.2 is the 2,s pulse option                                     ****
'*****   PinB.3 isn't used at this time, have a extra pin to do something   ****
'*****     with, maybe a serial LCD, or a RCTimed potentiometer for         ****
'*****     propotional testing purposes.                                    ****
'*****                                                                      ****
'*****   Copyright 2002 DRPG Dallas Personal Robotics Group                 ****
'*****   licensed under the terms of the GNU GPL version 2 or later         ****
'*******************************************************************************

Dim Servospeed As Integer
Dim Negservospeed As Integer
Dim I As Integer
Dim Centerservo As Integer
Dim Leftservo As Integer
Dim Rightservo As Integer

Config Pinb.4 = Output                                      'servo signal
Config Pinb.0 = Input                                       '2ms throw button
Config Pinb.1 = Input                                       '1ms throw button
Config Pinb.2 = Input                                       'fast button

Portb.4 = 0

Servospeed = 3
Negservospeed = -3
I = 0

Centerservo = 640
Rightservo = 430
Leftservo = 850

Wait 1

Loop:

  If Pinb.0 = 0 Then
  'Slow Speed
    If Pinb.1 = 0 Then                                      '1ms pulse out
       For I = Centerservo To Rightservo Step Negservospeed
         Pulseout Portb , 4 , I
         Waitms 20
       Next
    End If

    If Pinb.2 = 0 Then
       For I = Centerservo To Leftservo Step Servospeed
         Pulseout Portb , 4 , I
         Waitms 20
       Next
    End If

    If Pinb.1 = 1 And Pinb.2 = 1 Then
       Pulseout Portb , 4 , Centerservo
       Waitms 20
    End If
  Else
  'Fast speed
    If Pinb.1 = 0 Then                                      '1ms pulses
       Pulseout Portb , 4 , Rightservo
       Waitms 20
    End If

    If Pinb.2 = 0 Then
       Pulseout Portb , 4 , Leftservo                       '2ms pulses
       Waitms 20
    End If

    If Pinb.1 = 1 And Pinb.2 = 1 Then                       '1.5ms pulses
       Pulseout Portb , 4 , Centerservo
       Waitms 20
    End If
  End If

  Goto Loop

End                                                         'end program