<root>
<document schema='101' license='1,Ben Rowland,Y2NPAR' title='' description='' target='PIC16.33E.EB091' >
	<config data='' clkspd='140000000' simspd='1' usewdt='0' constif='0' />
	<plugins >
		<dll_dbg_icd enabled='0' >
			<data name='debug' value='0' />
			<data name='userpins' value='0' />
			<data name='speed' value='2' />
			<data name='usev9' value='1' />
			<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='514' />
			<data name='anlpres' value='1' />
			<data name='digmask1' value='0' />
			<data name='digmask2' value='0' />
		</dll_dbg_icd>
		<dll_models enabled='1' />
		<dll_upgrader enabled='1' />
		<dll_webhelp enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug />
	<components >
		<settings autoimg='1' center='1' unitscale='0' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='96a225c6-c78c-4da7-b829-cf82e511ef4d' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' 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='1' layer='1' poslock='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='PID' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' >
						<array size='3' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Count' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</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='Control' type='s16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Feedback' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Setpoint' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</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='DisplayFormattedFloat' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='FloatVar' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' />
						<param name='NumChars' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='LCDString' type='T8' description='' isconst='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</local>
						<command class_type='calculation' title='Calculation' >
							<exp exp='.LCDString = FloatToString$ (.FloatVar)' />
							<exp exp='.LCDString = Left$ (.LCDString, .NumChars)' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='PrintString' >
							<argument exp='.LCDString' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='DisplayFormattedNumber' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='Number' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='Characters' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='length' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='LCDString' type='T8' description='' isconst='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
							<array size='20' />
						</local>
						<command class_type='calculation' title='Calculation' >
							<exp exp='.LCDString = ToString$ (.Number)' />
						</command>
						<command class_type='calculation' title='Calculation' >
							<exp exp='.length = Length$ (.LCDString)' />
						</command>
						<command class_type='loop' title='Loop' type='0' exp='.length &lt; .Characters' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='.LCDString = &quot;0&quot; + .LCDString' />
								</command>
								<command class_type='calculation' title='Calculation' >
									<exp exp='.length = .length + 1' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='PrintString' >
							<argument exp='.LCDString' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='StartupMessage' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Start' />
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='PrintString' >
							<argument exp='&quot;Speed Control 5&quot;' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='0' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='PrintString' >
							<argument exp='&quot;PID Control&quot;' />
						</command>
						<command class_type='delay' title='Delay' exp='2' type='2' />
					</flowline>
				</macro>
				<macro >
					<flowline name='DisplayValues' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='1' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Component Macro' macro='DisplayFormattedFloat' >
							<argument exp='PID[0]' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='6' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Component Macro' macro='DisplayFormattedFloat' >
							<argument exp='PID[1]' />
							<argument exp='4' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='12' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Component Macro' macro='DisplayFormattedFloat' >
							<argument exp='PID[2]' />
							<argument exp='4' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='2' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Macro' macro='DisplayFormattedNumber' >
							<argument exp='Setpoint &gt;&gt; 4' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='8' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Macro' macro='DisplayFormattedNumber' >
							<argument exp='Feedback &gt;&gt; 4' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='13' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Macro' macro='DisplayFormattedNumber' >
							<argument exp='Control' />
							<argument exp='3' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='TimerTick' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Macro' macro='CollectCoeficcients' />
						<command class_type='call' title='Read ADC Setpoint' component='SetpointPot' macro='GetInt' >
							<return exp='Setpoint' />
						</command>
						<command class_type='call' title='Read ADC Feedback' component='FeedbackPot' macro='GetInt' >
							<return exp='Feedback' />
						</command>
						<command class_type='call' title='Call Macro' macro='DSPChain' />
						<command class_type='call' title='Assign control signal to motor PWM' component='PWM1' macro='SetDutyCycle' >
							<argument exp='Control' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='DSPChain' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Add Current Feedback to DSP Chain' component='DSPInput1' macro='AddAsSINTTick' >
							<argument exp='Feedback' />
						</command>
						<command class_type='call' title='Perform PID based on Setpoint and Feedback' component='DSPControl1' macro='ProcessTick' >
							<argument exp='Setpoint' />
						</command>
						<command class_type='call' title='Read control signal from DSP Chain' component='DSPOutput1' macro='ReadRawTick' >
							<return exp='Control' />
						</command>
						<command class_type='comment' title='' comment='Ensure control signal is in range 0-255' textarea='12,0,12,0' />
						<command class_type='decision' title='Decision' exp='Control &lt; 0' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='Control = 0' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Scale control signal down from 12-bit to 8-bit' >
									<exp exp='Control = Control &gt;&gt; 4' />
								</command>
								<command class_type='decision' title='Decision' exp='Control &gt; 255' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' >
											<exp exp='Control = 255' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='CollectCoeficcients' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' component='PPot' macro='GetVoltage' >
							<return exp='PID[0]' />
						</command>
						<command class_type='call' title='Call Component Macro' component='IPot' macro='GetVoltage' >
							<return exp='PID[1]' />
						</command>
						<command class_type='call' title='Call Component Macro' component='DPot' macro='GetVoltage' >
							<return exp='PID[2]' />
						</command>
						<command class_type='call' title='Call Component Macro' component='DSPControl1' macro='ChangePID' >
							<argument exp='0' />
							<argument exp='PID[0]' />
						</command>
						<command class_type='call' title='Call Component Macro' component='DSPControl1' macro='ChangePID' >
							<argument exp='1' />
							<argument exp='PID[1]' />
						</command>
						<command class_type='call' title='Call Component Macro' component='DSPControl1' macro='ChangePID' >
							<argument exp='2' />
							<argument exp='PID[2]' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Macro' macro='StartupMessage' />
						<command class_type='call' title='Call Macro' macro='Initialise' />
						<command class_type='call' title='Call Macro' macro='CollectCoeficcients' />
						<command class_type='interrupt' title='Interrupt' enable='1' name='TMR1' call='TimerTick' >
							<settings timer='1' prescale='1' postscale='-1' rollover='65536' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='0' />
								<option value='65536' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='loop' title='Loop' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Display Values' macro='DisplayValues' />
								<command class_type='delay' title='Delay' exp='20' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Initialise' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' component='DSPSystem1' macro='Initialise' />
						<command class_type='output' title='Enable Motor Driver' mode='1' port='1048579' mask='1' exp='1' />
						<command class_type='output' title='Pull low motor direction control pin' mode='1' port='1048579' mask='8' exp='0' />
						<command class_type='call' title='Call Component Macro' component='PWM1' macro='Enable' />
						<command class_type='call' title='Call Component Macro' component='PWM1' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Clear' />
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='PrintString' >
							<argument exp='&quot;P    I     D&quot;' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='Cursor' >
							<argument exp='0' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Component Macro' component='lcd_eb005' macro='PrintString' >
							<argument exp='&quot;SP    FB    C&quot;' />
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='14683ea8-5a08-4b3a-be2d-3dea3e17e720' vmin='3' vmaj='1' codename='SetpointPot' x='68.5176' y='40' z='9' xsz='25.1419' ysz='25.1419' zsz='18.45' 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='cap_color' data='192' />
					<value target='point_color' data='16777215' />
					<value target='ScopeTraces' data='1' />
					<value target='channel' data='1' />
					<value target='vrefvol' data='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='064' />
					<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='166.361' y='7.5981' z='5.25501' 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='1' layer='1' poslock='1' >
				<resources />
				<properties />
				<values >
					<value target='channel' data='001' />
					<value target='altpin' data='0' />
					<value target='pwm_pin' data='$PORTD.2' />
					<value target='RemapPin' data='009' />
					<value target='timer' data='2' />
					<value target='period' data='255' />
					<value target='prescale' data='003' />
					<value target='period_calc' data='29.257143' />
					<value target='frequency_calc' data='34.179688' />
					<value target='pwm_prescale' data='8' />
					<value target='SimRep' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='d29dda88-17de-4008-991a-c881890d4c57' vmin='1' vmaj='1' codename='lcd_eb005' x='131.015' y='53.1079' z='3.575' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Pin_Data_0' data='$PORTE.0' />
					<value target='Pin_Data_1' data='$PORTE.1' />
					<value target='Pin_Data_2' data='$PORTE.2' />
					<value target='Pin_Data_3' data='$PORTE.3' />
					<value target='Pin_RS' data='$PORTE.4' />
					<value target='Pin_E' data='$PORTE.5' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='c73d493a-b6a0-4dbe-b4b5-79648f67d11e' vmin='2' vmaj='1' codename='DSPInput1' x='24' y='8' z='2.98251' xsz='43.5' ysz='32' zsz='5.965' 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='buffer_manager' data='001' />
					<value target='input_a' data='000' />
					<value target='size_a' data='1' />
					<value target='depth_a' data='001' />
					<value target='sign_a' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='e6dd1315-4acf-4fb5-abd9-5743d3715cbe' vmin='2' vmaj='1' codename='DSPControl1' x='80' y='8' z='2.98251' xsz='55' ysz='32' zsz='5.965' 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='buffer_manager' data='001' />
					<value target='input_a' data='000' />
					<value target='output_c' data='001' />
					<value target='size_a' data='1' />
					<value target='size_o' data='1' />
					<value target='depth_a' data='001' />
					<value target='depth_o' data='001' />
					<value target='sign_a' data='000' />
					<value target='sign_o' data='000' />
					<value target='style' data='000' />
					<value target='method' data='003' />
					<value target='Hysteresis' data='10' />
					<value target='on_val' data='100' />
					<value target='off_val' data='' />
					<value target='proportional' data='0.800000' />
					<value target='integral' data='0.600000' />
					<value target='derivative' data='0.800000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='1392d5c3-35ba-4c7f-a539-7f30a09758e4' vmin='2' vmaj='1' codename='DSPOutput1' x='136' y='8' z='2.98251' xsz='43.5' ysz='32' zsz='5.965' 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='buffer_manager' data='001' />
					<value target='input_a' data='001' />
					<value target='size_a' data='1' />
					<value target='depth_a' data='001' />
					<value target='sign_a' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='917f243e-4102-4bee-9998-81f18bc6ca9d' vmin='2' vmaj='1' codename='DSPSystem1' x='32.2391' y='52.5885' z='2.55' xsz='32' ysz='32' zsz='5.1' 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='buffer_count' data='002' />
					<value target='simple_mode' data='1' />
					<value target='DSPsystem_ID' data='1' />
					<value target='buff_a_name' data='Feedback' />
					<value target='buff_b_name' data='Output' />
					<value target='buff_c_name' data='Buffer C' />
					<value target='buff_d_name' data='Buffer D' />
					<value target='buff_e_name' data='Buffer E' />
					<value target='buff_f_name' data='Buffer F' />
					<value target='buff_g_name' data='Buffer G' />
					<value target='buff_h_name' data='Buffer H' />
					<value target='buff_a_depth' data='001' />
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