'Teach.mxt is a program the prompts for manual
'positioning of the MDrive and when
'input 1 toggles it remembers the position based on the
'value of C2. It sets two positions and will run
'point to point with input 2

'This program requires the MDrive be eqipped with an
'internal -EQ or remote -EE encoder option.


'[Parameters}

Ee=1       'enable encoder
VA p1      'declare variables
VA p2
S1=0,0,0   'define i/o 1 as user input
S2=0,0,0   'define i/o 2 as user input


'[Program]
PG 1       'enter program mode
LB su      'startup label
Er=0       'clear any errors
C2=0       'init C2 (encoder counter)
p1=0       'init user variables
p2=0
PR "Move drive to first position"
PR "Press PB1 when ready
LB k1
BR k1,I1=0 'loop while waiting for first value from input 1
p1=C2      'save value of C2 to p1 variable
PR p1      'print it
LB k2
BR k2,I1=1 'hold here till pushbutton is released
PR "Move drive to second position"
PR "Press PB1 when ready
LB k3
BR k3,I1=0 'loop while waiting for 2nd value from input 1
p2=C2      'save value of C2 in p2
PR p2      'print it
LB k4
BR k4,I1=1 'hold till pushbutton is released
PR "Toggle Sw 2 to start cycle"
Sf=0       'clear stall flag
Sm=1       'do not stop on a stall
LB m1      'run a little program to move drive from
BR m1,I2=0 'first point to second point
LB m2
MA p1      'move to absolute value of point 1
H          'hold until move is complete
PR P       'print position
H 250      'delay 250mS
MA p2      'move to absolute value of point 2
H          'hold until move is done
PR P       'print position
H 250      'delay 250mS
BR m1     'branch to m2 to repeat cycle
E          'end of program
PG         'leave program mode