//-----------------------------------------------------------
// demo1.cpp                                      Warren Kuo
//
// This program used the index reset method (C+/C-)
// to get the encoder counter value for one revolution.
//
// compiled under large mode, Turbo C++
//
// v1.0   5/6/2002
//-----------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>

#include "enc600.h"

#define CARD1  0

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

void main()
{
long  x_value, pre_x_value;
unsigned char x_index, index_count, x_axis;

  clrscr();
  if (ENC6_REGISTRATION(CARD1, 0)!=YES)
     cprintf("PISO_ENC600 doesn't exist!\r\n");


  // set quadrant-counting mode and index reset mode for X1-axis
  ENC6_INIT_CARD(CARD1, ENC_QUADRANT | ENC_INDEX_RESET
		      , ENC_QUADRANT | ENC_INDEX_RESET
		      , ENC_QUADRANT | ENC_INDEX_RESET
		      , ENC_QUADRANT | ENC_INDEX_RESET
		      , ENC_QUADRANT | ENC_INDEX_RESET
		      , ENC_QUADRANT | ENC_INDEX_RESET);

  gotoxy(10,5);
  cprintf(" Select axis to test (1, 2, 3, 4, 5, 6):");

  scanf("%d", &x_axis);
  if((x_axis == 0) || (x_axis > 6))
  {
  	gotoxy(10,7);
  	cprintf(" Input error, please input again (1, 2, 3, 4, 5, 6):");
  	scanf("%d", &x_axis);
  	if((x_axis == 0) || (x_axis > 6))
  	{
  		gotoxy(10,8);
  		cprintf(" Input error");
  		return;
  	}
  }

  ENC6_RESET_ENCODER(CARD1,x_axis);

  pre_x_value = x_value = ENC6_GET_ENCODER(CARD1,x_axis);
  index_count = 0;

  gotoxy(10,17);
  cprintf(" Press any key to exit.");

  do
  {
      x_value = ENC6_GET_ENCODER(CARD1,x_axis);

      x_index = ENC6_GET_INDEX(CARD1,x_axis);

      gotoxy(10,9);
      cprintf("  X%d : %6ld   Revolution :%x", x_axis, x_value, index_count);

      // if index channel is 1 and encoder counter value changes, then index_count++
      if((x_index & 0x02) && (pre_x_value != x_value))
      	index_count ++;

      // do the motor rotate one revolution?
      if((index_count == 2) && (pre_x_value != x_value))
      {
      	gotoxy(10,13);
      	cprintf(" The encoder counter value for one revolution is about %5ld", pre_x_value+1);
      	break;
      }

      // if index_count > 2, set index_count=0 to retry
      if(index_count > 2)
      	index_count = 0;

      if(pre_x_value != x_value)
      {
      	pre_x_value = x_value;
      }
  } while (!kbhit());

  while (!kbhit());

}