/*
X702RencDemo.C: Demo program for X702

Compiler: BC++ 3.1
          Turbo C ++ 1.01(3.01) (free from http://community.borland.com/museum) 
          
Compile mode: large

Project: X702Renc Demo.
         ..\..\..\..\lib\7188xbl.lib or 7186EL.LIB or 7188EL.LIB
         ..\..\..\..\lib\XBoard\X702.lib
     
Hardware: 7188XB\7188EX\7186EX + X702
Description:
        Setting for encode:
             Step1: Set XOR logic
             Step2: Choose encode counting mode => cw/ccw,pulse/dir,(Quadrant)a/b phase
             Step3: Read encode counting value

[5/Mar/2010] by Vic
*/

/********************************************************************************/
/*  X702:   2-axis encoder counter                          */
/********************************************************************************/


#include <dos.h>
#include "..\..\..\..\lib\7188xb.h"
#include "..\..\..\..\lib\XBoard\x702.h"

int xor1,xor2,mode1,mode2;
long EncVal1,EncVal2;

void read_enc1( long *);
void read_enc2(long *);

void main(void)
{
   char Mode[3][15]={"cw\ccw","pulse/dir","a/b"};

   InitLib();
   X702_Init();
   
   Print("\nxor1 = (0 or 1) ?");
   xor1=Getch()-'0'; if (xor1) xor1=1;
   X702_SetXOR(1,xor1);
    
try_again1:
    Print("\nmode1 = (1=cw/ccw,2=pulse/dir,3=a/b) ?");
    mode1=Getch()-'0';

    if(mode1<1 || mode1>3) goto try_again1;
    X702_SetMode(1,mode1);  
    
    Print("\nxor2 = (0 or 1) ?");
    xor2=Getch()-'0'; if (xor2) xor2=1;
    
    X702_SetXOR(2,xor2);
    
try_again2:
    Print("\nmode2 = (1=cw/ccw,2=pulse/dir,3=a/b) ?");
    mode2=Getch()-'0';
    if(mode2<1 || mode2>3) goto try_again2;
    X702_SetMode(2,mode2);

    X702_ResetEncoder(1);
    X702_ResetEncoder(2);
    
    for (;;)
    {
        if (Kbhit())
        {
            Getch(); return;
        }
        
        read_enc1(& EncVal1);
        read_enc2(&EncVal2);
        Print("\n(mode1=%s,enc1=%ld) (mode2=%s,enc2=%ld)",Mode[mode1-1],EncVal1,Mode[mode2-1],EncVal2);
        DelayMs(100);
    }

}


// ---------------------------------------------------------------

void read_enc1(long *enc1)
{  
   X702_Read24BitEncoder(1,enc1);
}

void read_enc2(long *enc2)
{   
   X702_Read24BitEncoder(2,enc2);    
}