// experi7d.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);

  SetLast(LASTSLOT);

  newfreq = get_frequency();

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

  // set up a channel with a pwm line and a direction line -- no brake
  // using duty cycle
  PwmAndDirectionDuty(MainMotor, 0, // set up, but don't start main motor
                      PA0, PA2, // pwm and direction port
                      75.0, 50.0); // forward 75%, reverse 50%
  printf("MainMotor on/off settings pwm = PA0, dir = PA2:\n");
  show(MainMotor);

  Blink(LED1, PA1, .3, .2);
  Blink(LED2, PA4, .15, .1);
  SetLast(LASTSLOT);

  while(!kbhit())
  {
    Forward(MainMotor);
    if(kbhit())
      break;
    wait(1);

    Stop(MainMotor);
    if(kbhit())
      break;
    wait(1);

    Reverse(MainMotor);
    if(kbhit())
      break;
    wait(1);

    Stop(MainMotor);
    if(kbhit())
      break;
    wait(1);
  }

  Stop(MainMotor);

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

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

// end experi7d.c