'Read and Feed - This program decodes I/Os 21 & 22 to 
'determine move distance and makes the move.


'************* Parameter Setup ************

MUNIT = 51200
VI = 0.5
VM = 10
ACCL = 20
DECL = 20

IOS 21 = 0,0,0  'Distance Bit0, low true
IOS 22 = 0,0,0  'Distance Bit1, low true
IOS 23 = 9,0,0  'Start input, low true

VAR DISTANCE
VAR MASK = 3
VAR INPCODE

'************* Program ************

PGM 1
  LBL READFEED
    INPCODE = IO 20 & 3	'This step masks the upper
			'4 bits of IO 20.


'Feed distance is set in the routine depending on the
'state of Inputs 21 & 22

    BR Dist0, INPCODE = 0
    BR Dist1, INPCODE = 1
    BR Dist2, INPCODE = 2
    BR Dist3, INPCODE = 3 

    LBL Feed
      MOVR DISTANCE
      HOLD 2 

    END


    LBL Dist0
      DISTANCE = 1
      BR Feed

    LBL Dist1
      DISTANCE = 2
      BR Feed
  
    LBL Dist2
      DISTANCE = 3
      BR Feed

    LBL Dist3
      DISTANCE = 4
      BR Feed

    PGM