//******************************************************************
//      DEMO1.cpp
//                                            Chi-Mou Chao 2/17/2001
//******************************************************************
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>

#include "mstep2.h"
#define  CARD1    0
//-------------define display color for color
unsigned char DDA,AD;
unsigned int  LSP,HSP;
unsigned char xmode,ymode;
unsigned char xdir,ydir;
unsigned char xson,yson;

//####################################################################
void main()
{            
unsigned char x_limit, y_limit;

  clrscr();

  DDA = 3;
  AD  = 5;
  LSP = 10;
  HSP = 150;
  xmode = CW_CCW;
  ymode = CW_CCW;
  xdir = NORMAL_DIR;
  ydir = NORMAL_DIR;
  xson = ON;
  yson = ON;

  cprintf("*** STEP-200 Simple demonstration program ***\r\n");
  //----initial setting-----------------------
  MSTEP2_REGISTRATION(CARD1, 0x300);
  MSTEP2_RESET_SYSTEM(CARD1);
  MSTEP2_SET_VAR(CARD1, DDA, AD, LSP, HSP);
  MSTEP2_SET_DEFDIR(CARD1, xdir, ydir);
  MSTEP2_SET_MODE(CARD1, xmode, ymode);
  MSTEP2_SET_SERVO_ON(CARD1, xson, yson);
  MSTEP2_SET_NC(CARD1, NO);

  //----motion command------------------------
  cprintf("Constant speed move...\r\n");
  MSTEP2_CSP_MOVE(CARD1,CW,X_axis,20);
  delay(2000);
  MSTEP2_CSP_MOVE(CARD1,CW,X_axis,100);
  delay(2000);
  MSTEP2_CSP_MOVE(CARD1,CW,X_axis,50);
  delay(2000);
  MSTEP2_SLOW_STOP(CARD1,X_axis);
  do {} while (MSTEP2_IS_X_STOP(CARD1)==NO);
  delay(500);

  cprintf("High speed pulse move...\r\n");
  MSTEP2_HSP_PULSE_MOVE(CARD1,X_axis,-20000);
  do {} while (MSTEP2_IS_X_STOP(CARD1)==NO);
  delay(500);

  cprintf("Interpolation line...\r\n");
  MSTEP2_INTP_LONG_LINE(CARD1,-20000,20000, 150);
  do {} while (MSTEP2_IS_X_STOP(CARD1)==NO);
  delay(500);

  cprintf("State-machine type interpolation line...\r\n");
  MSTEP2_INTP_LINE02(CARD1,20000,-20000, 150, 0);
  do {} while (MSTEP2_INTP_STOP()!=READY);
  do {} while (MSTEP2_IS_X_STOP(CARD1)==NO);
  delay(500);
  //----get limit switch ---------------------
  x_limit = MSTEP2_LIMIT_X(CARD1);
  cprintf("X limit = %d \r\n", x_limit);
  y_limit = MSTEP2_LIMIT_Y(CARD1);
  cprintf("Y limit = %d \r\n", y_limit);
  
  
  MSTEP2_RESET_SYSTEM(CARD1);
}