DECLARE SUB rs232init ()
DECLARE SUB rs232setpar (openpar$)
DECLARE SUB sxgetencpos (dlines&)
DECLARE SUB sxgetmotpos (d!)
DECLARE SUB sxgohome ()
DECLARE SUB sxmoveabs (d!)
DECLARE SUB sxmoverel (d!)
DECLARE SUB sxsetaddr (rs232addr$)
DECLARE SUB moveinit ()
DECLARE SUB movesetparth (logfile$, tdrivers232addr$, tdrivendegperrev!, treadndegperline!, tccwsoftlimit!, tcwsoftlimit!, tlimitdecel!, taccel!, tdecel!, tvel!)
DECLARE SUB movesetparz (logfile$, zdrivers232addr$, zdrivenmeterperrev!, zreadnmeterperline!, zccwsoftlimit!, zcwsoftlimit!, zlimitdecel!, zaccel!, zdecel!, zvel!)
DECLARE SUB movethuser ()
DECLARE SUB movezuser ()

'****************************************************************************
'TESTSX
'Test the Compumotor SX indexer/drive
'
'Zachary Wolf
'12/16/97
'****************************************************************************

'Get required parameters
REM $INCLUDE: 'param.inc'

'Prepare the screen
CLS

'Open a log file
filenum% = FREEFILE
logfileP$ = "logfile.dat"
OPEN logfileP$ FOR OUTPUT AS #filenum%
CLOSE filenum%

CALL rs232setpar(sxrs232openparP$)
CALL rs232init

zccwsoftlimit! = -4!
zcwsoftlimit! = 4!
tccwsoftlimit! = -360!
tcwsoftlimit! = 360!
CALL movesetparz(logfileP$, zdrivers232addrP$, zdrivenmeterperrevP!, zreadnmeterperlineP!, zccwsoftlimit!, zcwsoftlimit!, zlimitdecelP!, zaccelP!, zdecelP!, zvelP!)
CALL movesetparth(logfileP$, tdrivers232addrP$, tdrivendegperrevP!, treadndegperlineP!, tccwsoftlimit!, tcwsoftlimit!, tlimitdecelP!, taccelP!, tdecelP!, tvelP!)
CALL moveinit
'STOP

begin:
PRINT
INPUT "Which stage do you wish to move (Z, P, E to end): ", msg$
IF msg$ = "Z" OR msg$ = "z" THEN
 CALL movezuser
ELSEIF msg$ = "P" OR msg$ = "p" THEN
 CALL movethuser
ELSEIF msg$ = "E" OR msg$ = "e" THEN
 GOTO done:
ELSE
 PRINT "Unknown command."
END IF
GOTO begin:
done:
STOP

CALL sxsetaddr(zdrivers232addrP$)

'mot:
PRINT
INPUT "Move the motor. Press ENTER when ready.", a$
CALL sxgetmotpos(d!)
PRINT "Dmot = "; d!; " rev"
'GOTO mot

'enc:
PRINT
INPUT "Move the encoder. Press ENTER when ready.", a$
CALL sxgetencpos(d&)
PRINT "Denc = "; d&; " lines"
'GOTO enc

'CALL sxgetinputs(inputs$)
'STOP

CALL sxmoveabs(5!)
CALL sxgetmotpos(d!)
STOP

CALL sxgohome
STOP

CALL sxmoverel(-5!)
CALL sxgetmotpos(d!)
STOP