Moog firmware

Steer.sms

#define SWA  IN(3)==1
#define SWB  IN(4)==0
EIGN(W,0)
ZS
BAUD(0)=57600
BRKRLS
OFF
s = 1    ' State, 0=Off, 1=On 2=Off Requested
p = PA
r = 20
WHILE 1
    IF 1 == 0' IF SWA == 0
        s = 2
        IF Bo == 0  ' Motor is not off.. fix that.
            X       ' Stop Motion
            ZS      ' Clear Errors
            BRKRLS  ' Release Brake
            OFF     ' Turn Drive Off
            SLEEP   ' Stop accepting RS-232 input
                ' Steering can now be turned
        ELSE        ' Motor is Off.
            s = 0
        ENDIF
    ELSE
        s = 1
        WAKE    ' Accept RS-232 Input
    ENDIF
    p=PA
    w = W(0)
    PRINT("P:",p,",S:", s, ",M:" , w, #13)
    WAIT=r
LOOP
END