<root>
<document schema='101' license='1,Triokenwood,T4MVGF' title='' description='' target='PIC.18F.18F2331' >
	<config data='!0,32ff!10,fef6!20,ffff!30,fffa!40,ffff!50,ffff!60,ffff%8,2%e,0%f,0%10,0%11,1%12,1%18,0%19,f%1d,1%22,1%23,1%24,1%25,1%28,1%2a,1%2b,1%2c,1%2f,1%37,1%32,0%30,0%40,1%41,1%42,1%43,1%4f,1%4e,1%50,1%51,1%52,1%53,1%5f,1%5e,1%5d,1%60,1%61,1%62,1%63,1%6e,1' clkspd='19660800' simspd='2' usewdt='0' constif='0' />
	<plugins >
		<dll_dbg_icd enabled='0' >
			<data name='debug' value='1' />
			<data name='userpins' value='0' />
			<data name='speed' value='0' />
			<data name='usev9' value='0' />
			<data name='breaks' value='8' />
			<data name='stacks' value='8' />
			<data name='clkport' value='1' />
			<data name='clkbit' value='6' />
			<data name='dataport' value='1' />
			<data name='databit' value='7' />
			<data name='ghostype' value='0' />
			<data name='monitor' value='1' />
			<data name='ictloop' value='0' />
			<data name='ictrate' value='20000' />
			<data name='ictmask' value='0' />
			<data name='anlpres' value='255' />
			<data name='digmask1' value='-1' />
			<data name='digmask2' value='-1' />
		</dll_dbg_icd>
		<dll_models enabled='1' />
		<dll_upgrader enabled='1' />
		<dll_webhelp enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug >
		<watch expr='mainloop_ctr' />
	</debug>
	<components >
		<settings autoimg='1' center='1' unitscale='0' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='927900da-851f-4ed2-886e-312050bb5b81' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='Misc' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='0' iconpath='' />
		<component class_type='root' codename='panel' 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' interactive='1' solid='0' layer='0' poslock='15' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='motor_brake_ON' type='s16' description='Motor does have back-EMF braking imposed' isconst='1' isinit='1' usrinit='1' setinit='true' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_at_FULL_speed' type='b1' description='Flag indicating that the motor is at FULL speed' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_BRAKED' type='b1' description='motor is not running, but is BRAKED' isconst='0' isinit='1' usrinit='1' setinit='true' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_position_ACTUAL' type='u8' description='current position of the lid (pot. feedback)' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_deadband_width' type='s16' description='Deadband margin forPID function' isconst='1' isinit='1' usrinit='10' setinit='10' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_pos_fully_OPEN' type='s16' description='below this, it is assumed the lid is OPENED' isconst='1' isinit='1' usrinit='200' setinit='200' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_PWM_OFF' type='s16' description='PWM OFF ratio - Back EMF Braking enabled' isconst='1' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='btn_TILT_pressed' type='b1' description='Current state of the TILT button' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_MAX_speed' type='s16' description='Maximum PWM ratio' isconst='1' isinit='1' usrinit='191' setinit='191' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='dbl_press_wait_time' type='s16' description='Required delay before a second button press is valid' isconst='1' isinit='1' usrinit='1000' setinit='1000' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_deadband_POS' type='s16' description='Positive deadband margin forPID function' isconst='1' isinit='1' usrinit='3' setinit='3' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='led_displayloop' type='b1' description='Used to toggle display update LED indicator on and off' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='ctr_mainloop' type='u16' description='Counts number of times round the main loop' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_dir_is_POS' type='b1' description='Flag indicating that the motor will turn in POS direction' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='ctr_initialisation' type='u8' description='Shows state of initialisation timer on LCD' isconst='0' isinit='1' usrinit='10' setinit='10' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_NEG_dir' type='s16' description='flag to indicate NEG motor direction' isconst='1' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_pos_almost_CLOSED' type='s16' description='trigger point for deceleration when closing (and emergency re-open)' isconst='1' isinit='1' usrinit='20' setinit='20' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='ign_now_ON' type='b1' description='current state of the IGN flag' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='code_loop_LCD_interval' type='s16' description='Sets how often the LCD will be updated' isconst='1' isinit='1' usrinit='16384' setinit='0x4000' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_pwr_ENABLED' type='b1' description='Current state of the drive circuit' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_is_CLOSED' type='b1' description='Lid is fully CLOSED' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_at_ZERO_speed' type='b1' description='Flag indicating that the motor is at ZERO speed' isconst='0' isinit='1' usrinit='1' setinit='true' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='btn_OPEN_DOUBLE_press' type='b1' description='CLOSE command is being processed' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_brake_OFF' type='s16' description='Motor does not have back-EMF braking imposed' isconst='1' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='ign_was_ON' type='b1' description='previous state of the IGN flag' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='btn_OPEN_is_pressed' type='b1' description='Current state of the OPEN button' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_deceleration_point' type='s16' description='trigger point for deceleration when approaching target position' isconst='1' isinit='1' usrinit='30' setinit='30' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='code_loop_LED_interval' type='s16' description='Determines which bit, of 16, will be used to flash the loop LED' isconst='1' isinit='1' usrinit='4096' setinit='0x1000' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_OC_detected' type='b1' description='Motor over-current has been detected' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='btn_OPEN_SINGLE_oress' type='b1' description='OPEN command is being processed' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_deadband_NEG' type='s16' description='Negative deadband margin forPID function' isconst='1' isinit='1' usrinit='-3' setinit='-3' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_position_ERROR' type='s16' description='(target - current) position of the lid (error value)' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_PWM_ratio' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_POS_dir' type='s16' description='flag to indicate POS motor direction' isconst='1' isinit='1' usrinit='1' setinit='true' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='code_startup_delay' type='s16' description='Delay (mS) before logic starts running' isconst='1' isinit='1' usrinit='500' setinit='500' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_dir_is_NEG' type='b1' description='Flag indicating that the motor will turn in NEG direction' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_position_TARGET' type='u8' description='desired position of the lid (loop setpoint)' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='dbl_press_timeout' type='s16' description='time after which a second button press will no longer be accepted' isconst='1' isinit='1' usrinit='2000' setinit='2000' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='led_mainloop' type='b1' description='Used to toggle main loop LED indicator on and off' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='cmd_TILT_UP_latched' type='b1' description='a TILT UP command is being processed' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_at_MIN_speed' type='b1' description='Flag indicating that the motor is at MIN speed' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_pos_fully_CLOSED' type='s16' description='below this, it is assumed the lid is CLOSED' isconst='1' isinit='1' usrinit='5' setinit='5' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='cmd_TILT_DN_latched' type='b1' description='a TILT DOWN command is being processed' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='motor_MIN_speed' type='s16' description='Minimum PWM ratio' isconst='1' isinit='1' usrinit='63' setinit='63' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='lid_is_OPEN' type='b1' description='Lid is fully OPEN' isconst='0' isinit='1' usrinit='0' setinit='false' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='ToDo_TILT_UP_DN_command_detect' description='Detects the pressing of the TILT button, and latches an UP or DOWN command based on a single or double press' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='OPEN_pressed_wait_for_release' description='Wait doe OPEN button to be released' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='LCD_update' description='Macro to support all LCD output. Uses boolean flags set and cleared throughout the other code elements in order to determine output. Not called within the main loop unless absolutely necessary.' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='DisplayTARGET  lid position' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintRJByteAt_xy' >
							<argument exp='1' />
							<argument exp='1' />
							<argument exp='lid_position_TARGET' />
						</command>
						<command class_type='call' title='Display ACTUAL lid position value' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintRJByteAt_xy' >
							<argument exp='6' />
							<argument exp='1' />
							<argument exp='lid_position_ACTUAL' />
						</command>
						<command class_type='decision' title='Is  the IGN switch ON now' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='ign_now_ON' swap='0' >
							<flowline >
								<command class_type='call' title='Show the status of the IGN switch' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='&quot;ON &quot;' />
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='Show the status of the IGN switch' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
									<argument exp='0' />
									<argument exp='0' />
									<argument exp='&quot;OFF&quot;' />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Update speed ZERO indicator' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='motor_at_ZERO_speed' swap='0' >
							<flowline >
								<command class_type='call' title='Clear the NEG motor direction flag' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' cmdcustom_color='1' macro='PrintTextAt_xy' >
									<argument exp='14' />
									<argument exp='1' />
									<argument exp='&quot;  &quot;' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Update speed MIN indicator' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='motor_at_MIN_speed' swap='0' >
							<flowline >
								<command class_type='decision' title='Check for POS rotation' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='motor_dir_is_POS' swap='0' >
									<flowline >
										<command class_type='call' title='Show POS dir min-speed flag' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
											<argument exp='14' />
											<argument exp='1' />
											<argument exp='&quot;&gt; &quot;' />
										</command>
									</flowline>
									<flowline >
										<command class_type='call' title='Show NEG dir min-speed flag' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' cmdcustom_color='1' macro='PrintTextAt_xy' >
											<argument exp='14' />
											<argument exp='1' />
											<argument exp='&quot;&lt; &quot;' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Update speed FULL indicator' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='motor_at_FULL_speed' swap='0' >
							<flowline >
								<command class_type='decision' title='Check for POS rotation' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='motor_dir_is_POS' swap='0' >
									<flowline >
										<command class_type='call' title='Show POS dir max-speed flag' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
											<argument exp='14' />
											<argument exp='1' />
											<argument exp='&quot;&gt;&gt;&quot;' />
										</command>
									</flowline>
									<flowline >
										<command class_type='call' title='Show NEG dir max-speed flag' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
											<argument exp='14' />
											<argument exp='1' />
											<argument exp='&quot;&lt;&lt;&quot;' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Check the lid CLOSED status' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='lid_is_CLOSED' swap='0' >
							<flowline >
								<command class_type='call' title='Show lid pos as CLOSED' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
									<argument exp='10' />
									<argument exp='1' />
									<argument exp='&quot;C&quot;' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Check the lid OPEN status' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='lid_is_OPEN' swap='0' >
									<flowline >
										<command class_type='call' title='Show lid pos as OPEN' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
											<argument exp='10' />
											<argument exp='1' />
											<argument exp='&quot;O&quot;' />
										</command>
									</flowline>
									<flowline >
										<command class_type='call' title='Show lid pos as NOT CLOSED' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
											<argument exp='10' />
											<argument exp='1' />
											<argument exp='&quot; &quot;' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Update motor power status' disable='1' cmdcolor='3568629' cmdcolor_sec='3568629' exp='motor_pwr_ENABLED' swap='0' >
							<flowline >
								<command class_type='call' title='Show motor status ENABLED' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
									<argument exp='12' />
									<argument exp='1' />
									<argument exp='&quot;E&quot;' />
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='Show motor status DISABLED' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PrintTextAt_xy' >
									<argument exp='12' />
									<argument exp='1' />
									<argument exp='&quot;D&quot;' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Initialisation' description='initialises system at first power up' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='delay' title='Delay' cmdcolor='7895044' cmdcolor_sec='7895044' exp='500' type='1' />
						<command class_type='call' title='Enable A/D input' cmdcolor='1975743' cmdcolor_sec='1975743' component='POT_position' macro='RawEnable' />
						<command class_type='call' title='Ensure PWM1 is disabled' cmdcolor='1975743' cmdcolor_sec='1975743' component='PWM1' macro='Disable' />
						<command class_type='call' title='Ensure PWM2 is disabled' cmdcolor='1975743' cmdcolor_sec='1975743' component='PWM2' macro='Disable' />
						<command class_type='call' title='Initialise LCD panel' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Start' />
						<command class_type='call' title='Clear LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Clear' />
						<command class_type='call' title='Initialise LCD panel' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;Initialising&quot;' />
						</command>
						<command class_type='output' title='Turn LOOP led ON' disable='1' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048578' mask='64' exp='1' />
						<command class_type='call' title='Move towards end of upper line on LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Cursor' >
							<argument exp='0' />
							<argument exp='1' />
						</command>
						<command class_type='loop' title='Loop until start-up delay is complete' textarea='242,-10,242,-10' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='ctr_initialisation &gt; 0' >
							<flowline >
								<command class_type='delay' title='Startup Delay' cmdcolor='7895044' cmdcolor_sec='7895044' exp='code_startup_delay' type='1' />
								<command class_type='calculation' title='decrement delay loop counter' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='ctr_initialisation = ctr_initialisation - 1' />
								</command>
								<command class_type='calculation' title='Toggle the state of the main_loop LED' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='led_mainloop = NOT led_mainloop' />
								</command>
								<command class_type='output' title='Update MAIN LOOP led' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048578' mask='64' exp='led_mainloop' />
								<command class_type='call' title='Move towards end of upper line on LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Cursor' >
									<argument exp='13' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='display delay counter' ccode='// display delay counter
// Call Component Macro: LCD_panel::PrintNumber(ctr_initialisation)
FCD_0ad31_LCD_panel__PrintNumber(FCV_CTR_INITIALISATION);
' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintNumber' >
									<argument exp='ctr_initialisation' />
								</command>
								<command class_type='call' title='display dely counterat  (13, 0)' disable='1' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' macro='PrintByteAt_xy' >
									<argument exp='13' />
									<argument exp='0' />
									<argument exp='ctr_initialisation' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Clear LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Clear' />
						<command class_type='delay' title='Display Test Delay' cmdcolor='7895044' cmdcolor_sec='7895044' exp='2' type='2' />
						<command class_type='call' title='Move to start of upper line on LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Cursor' >
							<argument exp='0' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Display upper line of text' disable='1' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;TOP&quot;' />
						</command>
						<command class_type='call' title='Display upper line of text' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;OFF OPN --- OCD &quot;' />
						</command>
						<command class_type='call' title='Move to start of lower line on LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Cursor' >
							<argument exp='0' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Display lower line of text' disable='1' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;BOTTOM&quot;' />
						</command>
						<command class_type='call' title='Display lower line of text' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;T000 A255 O E &gt;&gt;&quot;' />
						</command>
						<command class_type='delay' title='Display Test Delay' cmdcolor='7895044' cmdcolor_sec='7895044' exp='2' type='2' />
						<command class_type='call' title='Move to start of upper line on LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Cursor' >
							<argument exp='0' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Display upper line of text - WORKS' disable='1' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;top&quot;' />
						</command>
						<command class_type='call' title='Display upper line of text - DOESN&apos;T WORK' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;stop&quot;' />
						</command>
						<command class_type='call' title='Move to start of lower line on LCD' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Cursor' >
							<argument exp='0' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Display lower line of text' disable='1' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;bottom&quot;' />
						</command>
						<command class_type='call' title='Display lower line of text' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='PrintString' >
							<argument exp='&quot;T255 A000 C D &lt;&lt;&quot;' />
						</command>
						<command class_type='delay' title='Display Test Delay' cmdcolor='7895044' cmdcolor_sec='7895044' exp='2' type='2' />
						<command class_type='call' title='Call Component Macro' cmdcolor='12583104' cmdcolor_sec='12583104' cmdcustom_color='1' component='LCD_panel' macro='Clear' />
						<command class_type='output' title='Turn LOOP led OFF' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048578' mask='64' exp='0' />
						<command class_type='output' title='Turn LCD led OFF' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048578' mask='128' exp='0' />
					</flowline>
				</macro>
				<macro >
					<flowline name='PID_update' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='PrintRJByteAt_xy' description='When called with a byte and an (x, y) location, this will put the number at that location on the LCD, right justified and padded with leading spaces' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='xLoc' type='u8' description='Between 0 and 15 for 16x2 LCD' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='yLoc' type='u8' description='Between 0 and 1 for 16x2 LCD' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='bytVal' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='tmpStr' type='T8' description='used to convert and pad incoming byte' isconst='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='6' />
						</local>
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='.tmpStr = &quot;000&quot; + ToString$ (.bytVal)' />
							<exp exp='.tmpStr = Right$ (.tmpStr,3)' />
						</command>
						<command class_type='call' title='Move LCD cursor to (x, y)' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='Cursor' >
							<argument exp='.xLoc' />
							<argument exp='.yLoc' />
						</command>
						<command class_type='call' title='Print text string at current cursor position' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='PrintString' >
							<argument exp='.tmpStr' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='set_motor_to_' description='Sets the motor to a given speed and direction' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='motor_PWM' type='u8' description='PWM value used to control rotation speed' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='motor_dir_POS' type='b1' description='flag to indicate POS rotation is required' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='motor_BRAKED' type='b1' description='Set if the motor is not moving, and BRAKED' isconst='0' isinit='0' usrinit='0' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='OPEN_CLOSE_check' description='Detects the pressing of the OPEN button, and latches an OPEN or CLOSE command based on a single or double press' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='test_for_OPEN_double_press' description='Checks to see if a valid second press of the OPEN button has been made, and sets the appropriate CLOSE request flag' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='PrintTextAt_xy' description='When called with a string and an (x, y) location, this will put the text at that location on the LCD' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='xLoc' type='u8' description='Between 0 and 15 for 16x2 LCD' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='yLoc' type='u8' description='Between 0 and 1 for 16x2 LCD' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='strText' type='T8' description='maximum 16 chars' isconst='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='16' />
						</param>
						<command class_type='call' title='Move LCD cursor to (x, y)' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='Cursor' >
							<argument exp='.xLoc' />
							<argument exp='.yLoc' />
						</command>
						<command class_type='call' title='Print text string at current cursor position' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='PrintString' >
							<argument exp='.strText' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='PrintByteAt_xy' description='When called with a byte and an (x, y) location, this will put the number at that location on the LCD' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='xLoc' type='u8' description='Between 0 and 15 for 16x2 LCD' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='yLoc' type='u8' description='Between 0 and 1 for 16x2 LCD' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='bytVal' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='call' title='Move LCD cursor to (x, y)' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='Cursor' >
							<argument exp='.xLoc' />
							<argument exp='.yLoc' />
						</command>
						<command class_type='call' title='Print text string at current cursor position' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' component='LCD_panel' macro='PrintNumber' >
							<argument exp='.bytVal' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='motor_POS_control' description='Controls motor when running in the NEGATIVE direction (i.e. &apos;closing&apos;)' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='IGN_changed_state_check' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='motor_NEG_control' description='Controls motor when running in the NEGATIVE direction (i.e. &apos;closing&apos;)' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Initialise' cmdcolor='1975743' cmdcolor_sec='1975743' macro='Initialisation' />
						<command class_type='loop' title='Main Loop (forever)' textarea='226,-8,226,-8' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='true' >
							<flowline >
								<command class_type='call' title='Check for change of IGN status' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='IGN_changed_state_check' />
								<command class_type='call' title='Process OPEN button press' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='OPEN_CLOSE_check' />
								<command class_type='call' title='Process TILT button press' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='ToDo_TILT_UP_DN_command_detect' />
								<command class_type='call' title='Check to see if drive is required' disable='1' cmdcolor='1975743' cmdcolor_sec='1975743' macro='PID_update' />
								<command class_type='calculation' title='Increment main_loop counter' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='ctr_mainloop = ctr_mainloop + 1' />
								</command>
								<command class_type='decision' title='Illuminate loop led every &quot; loop_led_interval&quot;  passes' cmdcolor='3568629' cmdcolor_sec='3568629' exp='(ctr_mainloop AND code_loop_LED_interval) = code_loop_LED_interval' swap='0' >
									<flowline >
										<command class_type='calculation' title='Toggle the state of the main_loop LED' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='led_mainloop = NOT led_mainloop' />
										</command>
										<command class_type='output' title='Update MAIN LOOP led' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048578' mask='64' exp='led_mainloop' />
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Illuminate display led every &quot; loop_lcd_interval&quot;  passes' cmdcolor='3568629' cmdcolor_sec='3568629' exp='(ctr_mainloop AND code_loop_LCD_interval) = code_loop_LCD_interval' swap='0' >
									<flowline >
										<command class_type='calculation' title='Toggle the state of the display update LED' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='led_displayloop = NOT led_displayloop' />
										</command>
										<command class_type='output' title='Update DISPLAY LOOP led' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048578' mask='128' exp='led_displayloop' />
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='aba70ed4-4d0c-47e1-90c7-bfda5262eec3' vmin='1' vmaj='1' codename='button_OPEN' x='-200' y='320' z='0.02' xsz='4.16667' ysz='3.45291' zsz='1' xang='0' yang='0' zang='90' xquat='0' yquat='0' zquat='0.707107' wquat='0.707107' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='pin' data='$PORTA.3' />
					<value target='polarity' data='000' />
					<value target='debounce' data='10' />
					<value target='Text' data='OPEN' />
					<value target='Font' data='Arial' />
					<value target='label_color' data='12632256' />
					<value target='bezel_color' data='1973790' />
					<value target='button_color' data='6908265' />
					<value target='operation' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='aba70ed4-4d0c-47e1-90c7-bfda5262eec3' vmin='1' vmaj='1' codename='button_TILT' x='200' y='320' z='0.02' xsz='4.16667' ysz='3.45291' zsz='1' xang='0' yang='0' zang='90' xquat='0' yquat='0' zquat='0.707107' wquat='0.707107' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='pin' data='$PORTA.4' />
					<value target='polarity' data='000' />
					<value target='debounce' data='10' />
					<value target='Text' data='TILT' />
					<value target='Font' data='Arial' />
					<value target='label_color' data='12632256' />
					<value target='bezel_color' data='1973790' />
					<value target='button_color' data='6908265' />
					<value target='operation' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='d29dda88-17de-4008-991a-c881890d4c57' vmin='1' vmaj='1' codename='LCD_panel' x='0' y='-200' z='3.575' xsz='11.25' ysz='9.64187' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='0' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Pin_Data_0' data='$PORTB.0' />
					<value target='Pin_Data_1' data='$PORTB.1' />
					<value target='Pin_Data_2' data='$PORTB.2' />
					<value target='Pin_Data_3' data='$PORTB.3' />
					<value target='Pin_RS' data='$PORTB.4' />
					<value target='Pin_E' data='$PORTB.5' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='ddad9cb9-122d-4f29-aaa9-233d3a967ca8' vmin='1' vmaj='1' codename='switch_IGN' x='0' y='320' z='3.6375' xsz='4.16667' ysz='3.45291' zsz='1' xang='0' yang='0' zang='90' xquat='0' yquat='0' zquat='0.707107' wquat='0.707107' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='pin' data='$PORTA.2' />
					<value target='polarity' data='000' />
					<value target='debounce' data='10' />
					<value target='Text' data='IGN' />
					<value target='Font' data='Arial' />
					<value target='label_color' data='12632256' />
					<value target='slider_color' data='5921370' />
					<value target='bezel_color' data='1973790' />
					<value target='on_color' data='49152' />
					<value target='off_color' data='128' />
					<value target='operation' data='001' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='8c97cc7d-3c7b-41b6-b255-6694b6b8eed9' vmin='4' vmaj='1' codename='POT_position' x='0' y='120' z='113.433' xsz='6.92004' ysz='6.92004' zsz='6.92004' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='1' >
				<resources />
				<properties />
				<values >
					<value target='angle_start' data='225.000000' />
					<value target='angle_sweep' data='270.000000' />
					<value target='ScopeTraces' data='0' />
					<value target='channel' data='0' />
					<value target='vrefvol' data='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='003' />
					<value target='actime' data='40' />
					<value target='bits' data='10' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='444fb704-814c-4707-a15c-759ba088505c' vmin='6' vmaj='1' codename='PWM1' x='-560' y='0' z='72.2142' xsz='17.8571' ysz='17.8571' zsz='17.8571' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='1' >
				<resources />
				<properties />
				<values >
					<value target='channel' data='001' />
					<value target='altpin' data='0' />
					<value target='pwm_pin' data='$PORTC.2' />
					<value target='RemapPin' data='000' />
					<value target='timer' data='002' />
					<value target='period' data='255' />
					<value target='prescale' data='000' />
					<value target='period_calc' data='52.083332' />
					<value target='frequency_calc' data='19.200001' />
					<value target='pwm_prescale' data='1' />
					<value target='SimRep' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='248e0a81-43e3-4ff7-b87d-69c04add1fb9' vmin='1' vmaj='0' codename='led_ENABLE' x='-350' y='120' z='1.25' xsz='20' ysz='20' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='pin' data='$PORTC.0' />
					<value target='polarity' data='001' />
					<value target='on_color' data='255' />
					<value target='Shape' data='007' />
					<value target='width' data='5.000000' />
					<value target='height' data='5.000000' />
					<value target='depth' data='2.500000' />
					<value target='show_label' data='002' />
					<value target='label_property' data='pin' />
					<value target='label_color' data='16777215' />
					<value target='label_scale' data='1.000000' />
					<value target='label_auto_scale' data='0' />
					<value target='label_position' data='003' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='444fb704-814c-4707-a15c-759ba088505c' vmin='6' vmaj='1' codename='PWM2' x='560' y='0' z='20.0446' xsz='17.8571' ysz='17.8571' zsz='17.8571' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='1' >
				<resources />
				<properties />
				<values >
					<value target='channel' data='002' />
					<value target='altpin' data='0' />
					<value target='pwm_pin' data='$PORTC.1' />
					<value target='RemapPin' data='000' />
					<value target='timer' data='002' />
					<value target='period' data='255' />
					<value target='prescale' data='000' />
					<value target='period_calc' data='52.083332' />
					<value target='frequency_calc' data='19.200001' />
					<value target='pwm_prescale' data='1' />
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