// experi7c.c

#include <dos.h>
#include <stdio.h>
#include <bios.h>

// defines OC structure
#include "outcont.h" 

// include header with constants
#include "constant.h"

// include header with external prototypes
#include "extern.h"

enum
{
  MainMotor,
  LED1,
  LED2,
  LASTSLOT
};

void main(void)
{
  int x;
  double dc,oldfreq,newfreq;

  oldfreq = 1193180.0/65536.0;

  get_port(); // get the port number and establish register locations

  // make everthing an output
  set_up_ppi(Aout_CUout_Bout_CLout);

  set_up_new_timer(2000.0);

  newfreq = get_frequency();

  printf("old frequency = %f new frequency = %f Hz\n"
  ,oldfreq,newfreq);

  // set up a dual pwm channel using duty cycle
  DualPwmDuty(MainMotor, 0, // set up, but don't start main motor
    PA0, 20.0, // forward uses line PA0 at 20%
    PA1, 20.0); // reverse uses line PA1 at 20%
  Blink(LED1, PA2, .3, .2);
  printf("LED1 on/off settings:\n");
  show(LED1);
  Blink(LED2, PA3, .15, .1);
  printf("LED2 on/off settings:\n");
  show(LED2);
  SetLast(LASTSLOT);

  printf("MainMotor on/off settings with 75%% forward and 15%% reverse:\n");
  show(MainMotor);
  printf("LEDs blinking and pwm off -- esc to quit, any other start test\n");

  if(getch() != 27) // escape key
  {
    while(!kbhit())
    {
      printf("forward 20%% 1 second\n");
      Forward(MainMotor);
      wait(1.0); // wait 1 second

      printf("brake, wait .5 seconds\n");
      BrakeDualPwm(MainMotor);
      wait(0.5); // wait 1 second

      printf("reverse 20%% 1 second\n");
      Reverse(MainMotor);
      wait(1.0); // wait 1 second

      printf("brake, wait .5 seconds\n");
      BrakeDualPwm(MainMotor);
      wait(0.5); // wait 1 second
    }
  }

  portaoff();
  portboff();
  portboff();

  // don't forget to free memory!
  FreeOutputControl();

  // be sure to restore the timer!
  restore_old_timer();
}

// end experi7c.c