;Basicmicro Robo Claw Quadrature Decoder program
;Example will read speed, total ticks and direction
;Switch settins: SW3=ON and SW5=ON.

;Program loops through 4 read commands and prints the 
;result to Studio terminal window and 38400 baud.


Encoder1 Var Long
Encoder2 Var Long
Status Var Byte
CRC Var Byte

Clear

ENABLEHSERIAL
SetHSerial H19200,H8DATABITS,HNOPARITY,H1STOPBITS

Pause 2000
Hserout [128, 20, (148 & 0x7F)]; Resets encoder registers

Main
	Pause 100
	
	ReadEncoderM1
		Hserout [128, 16]
		Hserin [Encoder1.byte3, Encoder1.Byte2, Encoder1.Byte1, Encoder1.Byte0, Status, crc]
		Serout s_out, i38400, [0,"Encoder1: ", DEC Encoder1, 13, "Status Byte: ", BIN Status]
	
	ReadSpeedM1
		Hserout [128, 18]
		Hserin [Encoder1.byte3, Encoder1.Byte2, Encoder1.Byte1, Encoder1.Byte0, Status, crc]
		Serout s_out, i38400, [13, 13, "Speed: ", DEC Encoder1, 13, "Direction: ", DEC Status]
	
	ReadEncoderM2
		Hserout [128, 17]
		Hserin [Encoder2.byte3, Encoder2.Byte2, Encoder2.Byte1, Encoder2.Byte0, Status, crc]
		Serout s_out, i38400, [13, 13, "Encoder2: ", DEC Encoder2, 13, "Status Byte: ", BIN Status]
	
	ReadSpeedM2
		Hserout [128, 19]
		Hserin [Encoder2.byte3, Encoder2.Byte2, Encoder2.Byte1, Encoder2.Byte0, Status, crc]
		Serout s_out, i38400, [13, 13, "Speed: ", DEC Encoder2, 13, "Direction: ", DEC Status]
		
Goto Main