<root>
<document scada='0' schema='103' license='1,52688293,Q7AG88' title='' description='' fcversion='655617' target='PICO.PICO.Raspberry_Pi_RP2040' >
	<config data='' clkspd='125000000' simspd='8' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug />
	<traces />
	<ghost >
		<FK2 >
			<data name='FK2D0' port='4294967295' pin='4294967295' />
			<data name='FK2D1' port='4294967295' pin='4294967295' />
			<data name='FK2D2' port='4294967295' pin='4294967295' />
			<data name='FK2D3' port='4294967295' pin='4294967295' />
			<data name='FK2D4' port='4294967295' pin='4294967295' />
			<data name='FK2D5' port='4294967295' pin='4294967295' />
			<data name='FK2D6' port='4294967295' pin='4294967295' />
			<data name='FK2D7' port='4294967295' pin='4294967295' />
			<data name='FK2D8' port='4294967295' pin='4294967295' />
			<data name='FK2D9' port='4294967295' pin='4294967295' />
			<data name='FK2D10' port='4294967295' pin='4294967295' />
			<data name='FK2D11' port='4294967295' pin='4294967295' />
			<data name='FK2D12' port='4294967295' pin='4294967295' />
			<data name='FK2D13' port='4294967295' pin='4294967295' />
			<data name='FK2D14' port='4294967295' pin='4294967295' />
			<data name='FK2D15' port='4294967295' pin='4294967295' />
			<data name='FK2A0' port='4294967295' pin='4294967295' />
			<data name='FK2A1' port='4294967295' pin='4294967295' />
			<data name='FK2A2' port='4294967295' pin='4294967295' />
			<data name='FK2A3' port='4294967295' pin='4294967295' />
			<data name='FK2A4' port='4294967295' pin='4294967295' />
			<data name='FK2A5' port='4294967295' pin='4294967295' />
		</FK2>
		<ICD >
			<data name='AnalogPrescaleValue' value='19' />
			<data name='DigitalSampleRate' value='100000' />
			<data name='BreakpointCount' value='8' />
			<data name='CallStackDepthCount' value='8' />
			<data name='ClockPort' value='0' />
			<data name='ClockPin' value='1' />
			<data name='DataPort' value='0' />
			<data name='DataPin' value='0' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='2' />
			<data name='CalculatedCommsDelay' value='2' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</ICD>
		<pins >
			<digital A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
			<analog A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
		</pins>
	</ghost>
	<components >
		<settings autoimg='0' center='1' unitscale='0' fixedscale='0' fixedx='25' fixedy='25' fixedz='25' headcode='0' />
		<definition guid='cf5899b6-203f-4d6f-b0e9-bae8b8ecdd88' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' category2='' category3='' bIs2dOnly='0' bIs3dOnly='0' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' scadaCompatible='0' embeddedCompatible='1' showmacros='1' iconpath='' />
		<component class_type='root' codename='ComponentRoot' panelId='-1' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='zero_pos' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='hall_debounce_time' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='hall_high_detect' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='steps_max' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='button_latch' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='counter' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_accel' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_active' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='SMove1' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='difference' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_paused' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='millis' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='velocity_rv2' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='total_steps' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='counter2' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='button_state' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_pos1' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_time_until' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='curr_step_timer' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_pos' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='velocity_diff' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='steps_min' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='velocity_end' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='pos' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='velocity_start' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_time' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_velocity_untill' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_velocity' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='micros' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='angle_max' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='debounce' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='auto_mode' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='servo_pause_untill' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='step_timer' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='pos4' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='searching' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='accel_steps' type='u16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='pos3' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='button_state2' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='pos2' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='pos1' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='last_step_time' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='velocity_rv' type='u32' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='remaing_steps' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='differncial' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='is_moving' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='wait_until' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='angle_min' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='hall_status' type='b1' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='diff' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='hall_sensor' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='EBM011_HallEffect1' macro='ReadSensor' >
							<return exp='hall_status' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='hall_status == true' swap='0' >
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='hall_high_detect == false' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='hall_high_detect = true' />
											<exp exp='hall_debounce_time = micros' />
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(micros - hall_debounce_time) &gt;= 1000' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='searching = false' />
													<exp exp='hall_high_detect = false' />
													<exp exp='zero_pos = true' />
													<exp exp='hall_high_detect = false' />
													<exp exp='curr_step_timer = millis - step_timer' />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='hall_high_detect = false' />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='zero_pos == false &amp;&amp; hall_high_detect == false' swap='0' >
							<flowline >
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='stepper_zero_search' />
								<command class_type='call' title='Component Macro' disable='1' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='PCA9685_PWM1' macro='WriteMicroseconds' >
									<argument exp='0' />
									<argument exp='600' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='counter = counter + 1' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' disable='1' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='hall_status = true &amp;&amp; zero_pos = false' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='searching = false' />
									<exp exp='zero_pos = true' />
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='stepper_zero_search' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='run_stepper' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(micros - last_step_time) &gt;= velocity_rv2' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='last_step_time = micros' />
								</command>
								<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='4194304' mask='16384' exp='true' usechipref='0' />
								<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='1' type='0' />
								<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='4194304' mask='16384' exp='false' usechipref='0' />
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='counter2 = counter2 + 1' />
									<exp exp='remaing_steps = remaing_steps - 1' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='remaing_steps &lt;= 0' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='is_moving = false' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='curr_step_timer = millis' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='pos == 1' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='servo_active = true' />
													<exp exp='servo_pos = 1' />
													<exp exp='servo_time_until = millis' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' disable='1' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='pos == 5' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='zero_pos = false' />
													<exp exp='pos = 0' />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' />
					</flowline>
				</macro>
				<macro >
					<flowline name='servo' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='Comment
1000 microseconds equivalent ot 0 angle in servo

logic look like:
1000 + (custom angle *(1000/180))' textarea='12,0,12,0' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' />
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='steps_min = 500 // steps for min angle (in 50 Hz)' />
							<exp exp='steps_max = 2500 //steps for max angle (in 50 Hz)' />
							<exp exp='' />
							<exp exp='angle_min = 0' />
							<exp exp='angle_max = 180' />
							<exp exp='' />
							<exp exp='wait_until = 2500' />
							<exp exp='servo_accel = false' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='button_state2 == false &amp;&amp; servo_accel == false' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='servo_accel = true' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_accel == true' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='servo_velocity = 100' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='servo_velocity = 70' />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(millis - servo_time_until) &gt;= servo_velocity' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='servo_time_until = millis' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_paused = true' swap='0' >
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(millis - servo_pause_untill) &gt;= wait_until' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='servo_paused = false' />
												</command>
												<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='differncial == 1' swap='0' >
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='servo_pos1 = servo_pos1 + 1' />
															<exp exp='' />
														</command>
													</flowline>
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='servo_pos1 = servo_pos1 - 1' />
															<exp exp='' />
														</command>
													</flowline>
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='SMove1 = steps_min + ((servo_pos1 * 111) / 10)' />
										</command>
										<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='PCA9685_PWM1' macro='WriteMicroseconds' >
											<argument exp='0' />
											<argument exp='SMove1' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='differncial == 1' swap='0' >
											<flowline >
												<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_pos1 == 125' swap='0' >
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='servo_paused = true' />
															<exp exp='servo_pause_untill = millis' />
														</command>
													</flowline>
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='servo_pos1 = servo_pos1 + 1' />
															<exp exp='' />
														</command>
														<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_pos1 &gt;= 138' swap='0' >
															<flowline >
																<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
																	<exp exp='differncial = 0' />
																</command>
															</flowline>
															<flowline />
														</command>
													</flowline>
												</command>
											</flowline>
											<flowline >
												<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_pos1 == 120 || servo_pos1 == 138' swap='0' >
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='servo_paused = true' />
															<exp exp='servo_pause_untill = millis' />
														</command>
													</flowline>
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='servo_pos1 = servo_pos1 - 1' />
															<exp exp='' />
														</command>
														<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_pos1 &lt;= 15' swap='0' >
															<flowline >
																<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
																	<exp exp='differncial = 1' />
																	<exp exp='servo_pos1 = 15' />
																	<exp exp='servo_active = false' />
																	<exp exp='servo_accel = false' />
																</command>
															</flowline>
															<flowline />
														</command>
													</flowline>
												</command>
											</flowline>
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' disable='1' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='servo_pos = 0' />
									<exp exp='servo_active = false' />
									<exp exp='curr_step_timer = millis' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='velocity_timer2' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(total_steps - remaing_steps) &lt; accel_steps' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' ccode='    // Calculation

FCV_VELOCITY_RV2 = FCV_VELOCITY_START - ((FCV_VELOCITY_START - FCV_VELOCITY_END) * (FCV_TOTAL_STEPS - FCV_REMAINING_STEPS)) / FCV_ACCEL_STEPS' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='velocity_rv2 = velocity_start - ((velocity_start - velocity_end) * (total_steps - remaing_steps)) / accel_steps' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Decision' ccode='  // Decision
  else if (FCV_REMAINING_STEPS &lt; FCV_ACCEL_STEPS)
  {' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='remaing_steps &lt; accel_steps' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' ccode='    // Calculation

FCV_VELOCITY_RV2 = FCV_VELOCITY_START - ((FCV_VELOCITY_START - FCV_VELOCITY_END) * (FCV_TOTAL_STEPS - FCV_REMAINING_STEPS)) / FCV_ACCEL_STEPS' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='velocity_rv2 = velocity_start - ((velocity_start - velocity_end) * (remaing_steps)) / accel_steps' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' textmode='1' ccode='    // Calculation
FCV_VELOCITY_RV2 = FCV_VELOCITY_END' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='velocity_rv2 = velocity_end' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='velocity_timer' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='difference = millis - velocity_diff' />
							<exp exp='' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='difference &lt;= 3000' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='velocity_rv = velocity_start - ((velocity_start - velocity_end) * difference / diff)' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='velocity_rv = velocity_end' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='stepper_zero_search' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='4194304' mask='32768' exp='false' usechipref='0' />
						<command class_type='decision' title='Decision' ccode='
  if ((FCV_MICROS - FCV_LAST_STEP_TIME) &gt;= FCV_VELOCITY_RV)
  {' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(micros - last_step_time) &gt;= velocity_rv' swap='0' >
							<flowline >
								<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='4194304' mask='16384' exp='true' usechipref='0' />
								<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='1' type='0' />
								<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='4194304' mask='16384' exp='false' usechipref='0' />
								<command class_type='calculation' title='Calculation' ccode='    // Calculation
FCV_LAST_STEP_TIME = FCV_MICROS' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='last_step_time = micros' />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='main program
' textarea='12,0,12,0' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' />
						<command class_type='calculation' title='Calculation' textarea='1256,0,1256,0' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='zero_pos = false' />
							<exp exp='searching = false' />
							<exp exp='hall_high_detect = false' />
							<exp exp='hall_debounce_time = 0' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='//Zero point search' />
							<exp exp='velocity_rv = 0' />
							<exp exp='velocity_start = 8000' />
							<exp exp='velocity_end = 900' />
							<exp exp='velocity_diff = 3000 //' />
							<exp exp='last_step_time = 0' />
							<exp exp='diff = 3000' />
							<exp exp='' />
							<exp exp='//steps to pos' />
							<exp exp='pos = 0' />
							<exp exp='is_moving = false' />
							<exp exp='remaing_steps = 0' />
							<exp exp='total_steps = 0' />
							<exp exp='accel_steps = 250' />
							<exp exp='velocity_rv2 = 12000' />
							<exp exp='counter2 = 0' />
							<exp exp='pos1 = 92 // first position turn on servo&lt; etc drop' />
							<exp exp='pos2 = 2240 // second postion cup' />
							<exp exp='pos3 = 1800 // third pos' />
							<exp exp='pos4 = 2800 // fourth position lead' />
							<exp exp='' />
							<exp exp='step_timer = 3000' />
							<exp exp='curr_step_timer = 0' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='//servo' />
							<exp exp='servo_time = 1500' />
							<exp exp='servo_time_until = 0' />
							<exp exp='servo_velocity = 70' />
							<exp exp='servo_velocity_untill = 0' />
							<exp exp='' />
							<exp exp='//servo' />
							<exp exp='servo_active = false' />
							<exp exp='' />
							<exp exp='' />
							<exp exp='' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='servo_pos1 = 0 //  degree' />
							<exp exp='differncial = 1' />
							<exp exp='servo_paused = false' />
							<exp exp='servo_pause_untill = 0' />
							<exp exp='' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='auto_mode = false' />
							<exp exp='button_latch = false' />
							<exp exp='debounce = 0' />
						</command>
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='PCA9685_PWM1' macro='Initialise' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='PCA9685_PWM1' macro='SetPWMFrequency' >
							<argument exp='50' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' type='0' exp='1' >
							<flowline >
								<command class_type='native' title='Code' ccode='FCV_MICROS = (uint32_t)time_us_64();          // Аналог micros()
FCV_MILLIS = (uint32_t)(time_us_64() / 1000); // Аналог millis()
' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' language='C' />
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='(millis - debounce) &gt;= 50' swap='0' >
									<flowline >
										<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='Switch_Push_Button1' macro='ReadState' >
											<return exp='button_state' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='debounce = millis' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='button_state == false' swap='0' >
									<flowline >
										<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='4194304' mask='33554432' exp='true' usechipref='0' />
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='button_latch == false' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='button_latch = true' />
													<exp exp='auto_mode =  !auto_mode' />
												</command>
												<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='auto_mode == true' swap='0' >
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='searching = true' />
															<exp exp='zero_pos = false' />
															<exp exp='velocity_diff = millis' />
															<exp exp='velocity_rv = velocity_start' />
															<exp exp='counter = 0' />
															<exp exp='pos = 0' />
														</command>
													</flowline>
													<flowline >
														<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
															<exp exp='searching = false' />
															<exp exp='is_moving = false' />
															<exp exp='servo_active = false' />
															<exp exp='zero_pos = false' />
															<exp exp='pos = 0' />
														</command>
													</flowline>
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='button_latch = false' />
										</command>
									</flowline>
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='auto_mode == true &amp;&amp; zero_pos == true &amp;&amp; is_moving == false &amp;&amp; servo_active == false &amp;&amp; (millis - curr_step_timer) &gt;= step_timer' swap='0' >
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='pos &lt; 4' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='pos = pos + 1' />
												</command>
												<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='pos' >
													<case >
														<flowline />
													</case>
													<case exp='1' >
														<flowline >
															<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
																<exp exp='remaing_steps = pos1' />
															</command>
														</flowline>
													</case>
													<case exp='2' >
														<flowline >
															<command class_type='calculation' title='Calculation' ccode='            // Calculation

' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
																<exp exp='remaing_steps = pos2' />
															</command>
														</flowline>
													</case>
													<case exp='3' >
														<flowline >
															<command class_type='calculation' title='Calculation' ccode='            // Calculation

' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
																<exp exp='remaing_steps = pos3' />
															</command>
														</flowline>
													</case>
													<case exp='4' >
														<flowline >
															<command class_type='calculation' title='Calculation' ccode='            // Calculation

' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
																<exp exp='remaing_steps = pos4' />
															</command>
														</flowline>
													</case>
												</command>
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='total_steps = remaing_steps' />
													<exp exp='last_step_time = micros' />
													<exp exp='velocity_rv2 = velocity_start' />
													<exp exp='is_moving = true' />
												</command>
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
													<exp exp='searching = true' />
													<exp exp='zero_pos = false' />
													<exp exp='velocity_diff = millis' />
													<exp exp='velocity_rv = velocity_start' />
													<exp exp='counter = 0' />
													<exp exp='pos = 0' />
												</command>
											</flowline>
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='hall_sensor on' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='zero_pos == false &amp;&amp; searching == true' swap='0' >
									<flowline >
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='velocity_timer' />
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='hall_sensor' />
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='is_moving == true' swap='0' >
									<flowline >
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='velocity_timer2' />
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='run_stepper' />
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='servo_active == true' swap='0' >
									<flowline >
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='servo' />
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='e2698f3e-1168-4f25-9c50-24a74ea7e34a' vmin='0' vmaj='20' codename='Switch_Push_Button1' panelId='0' x='96' y='-269.423' z='0' xsz='25.7123' ysz='25.5156' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='AppDevDetected' data='0' />
					<value target='SimulationOnly' data='0' />
					<value target='Pin' data='$PORTA.16' />
					<value target='Polarity' data='000' />
					<value target='debounce' data='0' />
					<value target='Latching' data='1' />
					<value target='ComponentLabel' data='000' />
					<value target='GdiText2::sText' data='Switch_Push_Button1' />
					<value target='ComponentLabelPosition' data='000' />
					<value target='ComponentLabelXPostion' data='0' />
					<value target='ComponentLabelYPostion' data='0.800000' />
					<value target='LabelColour' data='7895160' />
					<value target='ShowConnectionLabel' data='0' />
					<value target='ShowPinValue' data='0' />
					<value target='PinLabelPosition' data='001' />
					<value target='PinLabelXPostion' data='0' />
					<value target='PinLabelYPostion' data='-1.000000' />
					<value target='Style' data='000' />
					<value target='GdiSwitch1::nType' data='  2' />
					<value target='GdiSwitch1::sLabelOn' data='On' />
					<value target='GdiSwitch1::sLabelOff' data='Off' />
					<value target='FontType' data='Calibri' />
					<value target='GdiSwitch1::dScale' data='0.65' />
					<value target='GdiText2::dScale' data='0.65' />
					<value target='GdiText1::dScale' data='0.65' />
					<value target='GdiSwitch1::brOutline' data='71776119061217280' />
					<value target='GdiSwitch1::brOuterFillOn' data='251262225375821824' />
					<value target='GdiSwitch1::brFill' data='251262225375821824' />
					<value target='GdiSwitch1::brOutlineThumb' data='71917408452870144' />
					<value target='GdiSwitch1::brFillThumb' data='288090190566653952' />
					<value target='GdiSwitch1::brFillOn' data='648292728253186048' />
					<value target='GdiSwitch1::brLabelOn' data='0' />
					<value target='GdiSwitch1::brFillOff' data='648237171995574272' />
					<value target='GdiSwitch1::brLabelOff' data='0' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='b42786ab-fd9a-47cf-b3c4-560ecdc613fd' vmin='0' vmaj='1' codename='EBM011_HallEffect1' panelId='0' x='116.5' y='-105.5' z='1' xsz='25.18' ysz='25.2232' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='1' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Channel1' data='$PORTA.2' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='5bd41be2-1b9c-4f30-ba78-84cb29d61ced' vmin='0' vmaj='1' codename='PCA9685_PWM1' panelId='0' x='276.5' y='-106' z='2' xsz='25.18' ysz='25' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Address' data='000' />
					<value target='OutputMode' data='000' />
					<value target='ClockType' data='000' />
					<value target='ClockFrequency' data='25000000' />
					<value target='Prescaler' data='121.570312' />
					<value target='Frequency' data='205642.312500' />
					<value target='TargetPWMFreq' data='50.000000' />
					<value target='PWMFrequency' data='50.205643' />
					<value target='PWMResolution' data='4.862813' />
					<value target='cal_i2c1::CHANNEL' data='001' />
					<value target='cal_i2c1::BAUD_LIST' data='001' />
					<value target='cal_i2c1::BAUD' data='100000' />
					<value target='cal_i2c1::SDA' data='$PORTA.4' />
					<value target='cal_i2c1::SDAPins' data='000' />
					<value target='cal_i2c1::SCL' data='$PORTA.5' />
					<value target='cal_i2c1::SCLPins' data='000' />
					<value target='cal_i2c1::StopDel' data='0' />
					<value target='SimComms' data='0' />
					<value target='cal_i2c1::ScopeTraces' data='1' />
					<value target='cal_i2c1::ConsoleData' data='1' />
					<value target='cal_i2c1::Injector' data='001' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='f6ab6074-68ba-4cd4-9274-f973102f8518' vmin='9' vmaj='1' codename='gLCD_SSD1306_i2c1' panelId='0' x='128.5' y='-373' z='3' xsz='25.3375' ysz='25.5409' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='1' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='pixel_width' data='128' />
					<value target='pixel_height' data='64' />
					<value target='Interlaced' data='0' />
					<value target='OffsetX' data='0' />
					<value target='OffsetY' data='0' />
					<value target='RefreshMode' data='0' />
					<value target='monochrome' data='1' />
					<value target='foreground_colour' data='16777215' />
					<value target='background_colour' data='0' />
					<value target='colour_bit_depth' data='1' />
					<value target='red_bit_depth' data='0' />
					<value target='green_bit_depth' data='0' />
					<value target='blue_bit_depth' data='0' />
					<value target='Address' data='120' />
					<value target='cal_i2c1::CHANNEL' data='001' />
					<value target='cal_i2c1::BAUD_LIST' data='002' />
					<value target='cal_i2c1::BAUD' data='400000' />
					<value target='cal_i2c1::StopDel' data='0' />
					<value target='cal_i2c1::SDA' data='$PORTA.4' />
					<value target='cal_i2c1::SDAPins' data='000' />
					<value target='cal_i2c1::SCL' data='$PORTA.5' />
					<value target='cal_i2c1::SCLPins' data='000' />
					<value target='Base_GLCD::FontCount' data='001' />
					<value target='Base_GLCD::gLCD_Font1::Font' data='000' />
					<value target='Base_GLCD::gLCD_Font1::CustomFontFile' data='' />
					<value target='Base_GLCD::gLCD_Font1::BytesRequired' data='475' />
					<value target='Base_GLCD::gLCD_Font1::FontSpace' data='001' />
					<value target='Base_GLCD::gLCD_Font1::SpaceWidth' data='5' />
					<value target='Base_GLCD::gLCD_Font2::Font' data='005' />
					<value target='Base_GLCD::gLCD_Font2::CustomFontFile' data='' />
					<value target='Base_GLCD::gLCD_Font2::BytesRequired' data='' />
					<value target='Base_GLCD::gLCD_Font8::FontSpace' data='' />
					<value target='Base_GLCD::gLCD_Font2::SpaceWidth' data='004' />
					<value target='Base_GLCD::gLCD_Font3::Font' data='002' />
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					<value target='cal_i2c1::ScopeTraces' data='0' />
					<value target='cal_i2c1::Injector' data='000' />
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				<events />
				<apis />
				<variables />
				<macros />
			</component>
		</component>
	</components>
	<scadaresourcelookup />
	<keymap />
	<panel2d shadows='0' lighting='2' brightness='0' >
		<background rgb='7292207' img='' style='0' />
		<camera xe='0' ye='0' ze='1578.73' xt='0' yt='0' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<viewport dx='582' dy='911' zoom='44.6066' fix_topleft='0' />
		<page x='1000' y='1000' show='0' rgb='7360576' />
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	</panel2d>
	<panel3d shadows='0' lighting='2' brightness='0' perspective='1' >
		<background rgb='8409120' img='' style='0' />
		<table rgb='7360576' img='' style='0' size='0' />
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	</panel3d>
	<panels2d count='1' >
		<panel2d_0 id='0' name='2D Panel' >
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			<background fill='288230376151053813' showgrid='1' gridstyle='1' gridsize='10' gridbrush='71776119075691740' snaptogrid='1' />
		</panel2d_0>
	</panels2d>
	<layout >
		<view type='0' name='Main' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='95' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='servo' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='80' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='velocity_timer' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='100' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='stepper_zero_search' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='100' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='run_stepper' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='95' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='velocity_timer2' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='100' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='hall_sensor' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAhgYAAOADAAA' zoom='100' scrollx='0' scrolly='0' flags='0' />
	</layout>
</document>
</root>
