/*
X703RencDemo.C: Demo program for X703

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

Project: X703funsDemo.
         ..\..\..\..\lib\7188xbl.lib
         ..\..\..\..\lib\XBoard\X703.lib
     
Hardware: 7188XB + X703

[16/Oct/2008] by Vic
*/

/********************************************************************************/
/*  X703:   3-axis encoder counter                          */
/********************************************************************************/


#include <dos.h>
#include "..\..\..\..\lib\7188xb.h"
#include "..\..\..\..\lib\XBoard\x703.h"

int xor1,xor2,xor3,mode1,mode2,mode3;
long EncVal1,EncVal2,EncVal3;

void read_enc1( long *);
void read_enc2(long *);
void read_enc3(long *);

void main(void)
{
   char Mode[3][15]={"cw\ccw","pulse/dir","a/b"};
   
   InitLib();
   X703_Init();
   
   Print("\nxor1 = (0 or 1) ?");
   xor1=Getch()-'0'; if (xor1) xor1=1;
   X703_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;
   X703_SetMode(1,mode1);  
   
   Print("\nxor2 = (0 or 1) ?");
   xor2=Getch()-'0'; if (xor2) xor2=1;
   
   X703_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;
   X703_SetMode(2,mode2);
   
   Print("\nxor3 = (0 or 1) ?");
   xor3=Getch()-'0'; if (xor3) xor3=1;
   
   X703_SetXOR(3,xor3);
    
try_again3:
   Print("\nmode3 = (1=cw/ccw,2=pulse/dir,3=a/b) ?");
   mode3=Getch()-'0';
   if(mode3<1 || mode3>3) goto try_again3;
   X703_SetMode(3,mode3);
   
   X703_ResetEncoder(1);
   X703_ResetEncoder(2);
   X703_ResetEncoder(3);
    
   for (;;)
   {
     if (Kbhit())
     {
         Getch(); return;
     }
     
     read_enc1(&EncVal1);
     read_enc2(&EncVal2);
     read_enc3(&EncVal3);
     Print("\n(mode1=%s,enc1=%lx) (mode2=%s,enc2=%lx) (mode3=%s,enc3=%lx)",Mode[mode1-1],EncVal1,Mode[mode2-1],EncVal2,Mode[mode3-1],EncVal3);
     DelayMs(100);
   }

}


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

void read_enc1(long *enc1)
{  
   X703_Read24BitEncoder(1,enc1);
}

void read_enc2(long *enc2)
{   
   X703_Read24BitEncoder(2,enc2);    
}

void read_enc3(long *enc3)
{   
   X703_Read24BitEncoder(3,enc3);    
}