' www.crustcrawler.com
' Copyright 2006 CrustCrawler Inc.
'
'------- [ TestPscchannel.BS2 ] ----------------------------------------------
' {$STAMP BS2px}
' {$PBASIC 2.5}
'
' Use this program to test PSC channels

' -----[ I/O Definitions ]------------------------------------------------
PSC             PIN     15              ' PSC module

#SELECT $STAMP
  #CASE BS2SX, BS2P
    Baud        CON     1021 + $8000
  #CASE BS2PX
    Baud        CON     1646 + $8000
  #CASE #ELSE
    Baud        CON     396 + $8000
#ENDSELECT


'---- [Walking Variables] ------------------------------------------------
servoPosition   VAR     Word                  ' Servo Position
servoAddr       VAR     Byte                  ' Servo addresses
ramp            VAR     Byte                  ' Ramp used in SEROUT

'-------------------------------------------------------------------------

ramp = 8               'Rotation speed
servoAddr = 0          'PSC channel
servoPosition = 850    'Position 

Write_PSC:
  SEROUT PSC,Baud,["!SC",servoAddr,
         ramp,servoPosition.LOWBYTE,
         servoPosition.HIGHBYTE, CR]
  END
RETURN