DECLARE SUB cm2100avdin (ain!, vin!, din!)
DECLARE SUB cm2100avd (a&, v&, d&)
DECLARE SUB cm2100getx (x&)
'Include parameters
REM $INCLUDE: 'param.inc'

SUB cm2100avd (a&, v&, d&)

'****************************************************************************
'This is a dummy routine used for testing.
'****************************************************************************

END SUB

SUB cm2100avdin (ain!, vin!, din!)

'****************************************************************************
'This subroutine moves the linear motor.  Its input parameters are in
'inches.  It converts these to steps, the units of the 2100 commands,
'and calls the cm2100avd move routine.
'
'Input:
' ain!, acceleration in inches/sec/sec
' vin!, velocity in inches/sec
' din!, distance in inches
'
'Zachary Wolf
'5/7/94
'****************************************************************************

'Convert from inches to steps
a& = ain! * stepsperinchP&
v& = vin! * stepsperinchP&
d& = din! * stepsperinchP&

'Move the motor
CALL cm2100avd(a&, v&, d&)

END SUB

SUB cm2100getx (x&)

'****************************************************************************
'This is a dummy routine used for testing.
'****************************************************************************

x& = 100

END SUB

SUB cm2100gohome

'****************************************************************************
'This subroutine moves the motor back to its home position.
'
'Zachary Wolf
'5/6/94
'****************************************************************************

'See where we are
CALL cm2100getx(x&)

'Convert the acceleration and velocity to steps
a& = ainP! * stepsperinchP&
v& = vinP! * stepsperinchP&

'Go the the negative of the present position
CALL cm2100avd(a&, v&, -x&)

END SUB

SUB cm2100init

'****************************************************************************
'This is a dummy routine used for testing.
'****************************************************************************

'Message
PRINT
PRINT "Resetting the Compumotor 2100 routine."

END SUB