/*
 * mmtest2.c
 *
 * Test two: turn on the motor, let it run for 2 seconds, reverse direction, 
 * flash LED and then turn the motor on again
 *
 * NOTE: It is safer to stop the motor before reversing its
 * direction. If you don't then a potentially large back-EMF current
 * from the motor could destroy the PIC or the Motor Mind B module
 *
 * Motor Mind module is conected to PORTA
 * FM pin on MM is connected to  RA1 pin 18
 * LED on RB4 via 1K resistor
 *
 * Mark Crosbie 10/31/98  mark@mastincrosbie.com
 */

#define MOTOR 0x5
#define MMPIN 1
#define LED 4

void main(void) {

  set_bit(STATUS, RP0);    /* select the register bank 1 */
  clear_bit(TRISA, MMPIN);  /* Port A.1 is output */
  clear_bit(TRISB, LED);   /* Port RB.4 is output */
  clear_bit(STATUS, RP0);

  while(1) {

    /* start the motor at half speed */
    mm_start(MOTOR, MMPIN, 128);

    delay_s(2);

    /* stop the motor */
    mm_stop(MOTOR, MMPIN);

    /* reverse direction */
    mm_reverse(MOTOR, MMPIN);

    /* flash LED */
    set_bit(PORTB, LED);
    delay_s(1);

    clear_bit(PORTB, LED);
    delay_s(1);
 
  }
}