<root>
<document schema='101' license='1,monie jacobsen,YUWNEC' title='' description='' target='PIC16.33E.MIAC (dsPIC) System' >
	<config data='' clkspd='140000000' simspd='1' 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='19' />
			<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='sw' />
		<watch expr='tcount' />
		<watch expr='tsum' />
		<watch expr='Run_Left' />
		<watch expr='sw' />
		<watch expr='MapValueRight' />
	</debug>
	<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='4095' />
			<data name='ClockPin' value='0' />
			<data name='DataPort' value='4095' />
			<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' />
		</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='1' center='1' unitscale='0' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='f48e4598-9322-44b3-9c9d-69701987ae9d' 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='0' poslock='0' >
			<resources />
			<properties >
				<property name='PWM Pin' target='PWM1::pwm_pin' typeid='5' hidden='0' locked='1' info='Specifies the pin assigned to the PWM channel selected' />
			</properties>
			<values >
				<value target='PWM1::pwm_pin' data='$PORTD.5' />
			</values>
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='tsum' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='tcount2' type='u16' 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='Turn_Right_Left' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='SwFB' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='tsumfb' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='AN2' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='AN1' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='tcount' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Turn_Forward_Back' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='DIG2' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='SwRL' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='DIG1' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</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='Turn_Right_Left' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Beregning' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='//SwRL = Right and Left' />
							<exp exp='tcount = 0' />
						</command>
						<command class_type='loop' title='Loop while SW is high' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='SwRL' start='0' >
							<flowline >
								<command class_type='call' title='Input CH1' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputDIGITAL' >
									<return exp='SwRL' />
									<argument exp='1' />
								</command>
							</flowline>
						</command>
						<command class_type='loop' title='Loop while SW is low' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='SwRL = 0' start='0' >
							<flowline >
								<command class_type='call' title='Input CH1' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputDIGITAL' >
									<return exp='SwRL' />
									<argument exp='1' />
								</command>
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Rising edge - Start timing' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='native' title='Reset timer register count value' ccode='TMR1 = 0;
' cmdcolor='3389439' cmdcolor_sec='3389439' language='C' />
						<command class_type='interrupt' title='Interrupt' ccode='// Interrupt
// Interrupt: Aktivere TMR1
intcon.GIE = 1; // Enable global interrupts 
' cmdcolor='3610239' cmdcolor_sec='3610239' enable='1' name='TMR1' call='TimerInt' >
							<settings timer='1' prescale='8' postscale='-1' rollover='65536' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='1' />
								<option value='65536' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='loop' title='Loop while SW is high' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='SwRL' start='0' >
							<flowline >
								<command class_type='call' title='Input CH1' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputDIGITAL' >
									<return exp='SwRL' />
									<argument exp='1' />
								</command>
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Falling edge - Stop timing' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='interrupt' title='Interrupt' cmdcolor='3610239' cmdcolor_sec='3610239' enable='0' name='TMR1' >
							<settings timer='1' prescale='1' postscale='-1' rollover='0' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='native' title='Collect timer register count value' ccode='FCV_TSUM = TMR1;' cmdcolor='3389439' cmdcolor_sec='3389439' language='C' />
						<command class_type='call' title='Laver inputet om til 0 - 255 Bytes' cmdcolor='1975743' cmdcolor_sec='1975743' macro='Map_Right' >
							<return exp='Turn_Right_Left' />
							<argument exp='tsum' />
							<argument exp='7035' />
							<argument exp='19358' />
							<argument exp='0' />
							<argument exp='255' />
						</command>
						<command class_type='comment' title='' comment='Motor 1' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='decision' title='Beslutning' cmdcolor='3568629' cmdcolor_sec='3568629' exp='Turn_Right_Left &gt; 127' swap='0' >
							<flowline >
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
									<argument exp='0' />
									<argument exp='3' />
								</command>
								<command class_type='call' title='Left' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
									<argument exp='&quot;Turn Right    : &quot;' />
								</command>
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='' macro='' />
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
									<argument exp='16' />
									<argument exp='3' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
									<argument exp='Turn_Right_Left' />
								</command>
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
									<argument exp='&quot;   &quot;' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Beslutning' cmdcolor='3568629' cmdcolor_sec='3568629' exp='Turn_Right_Left &lt; 124' swap='0' >
									<flowline >
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
											<argument exp='0' />
											<argument exp='3' />
										</command>
										<command class_type='call' title='Left' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
											<argument exp='&quot;Turn Right    : &quot;' />
										</command>
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
											<argument exp='16' />
											<argument exp='3' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
											<argument exp='Turn_Right_Left' />
										</command>
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
											<argument exp='&quot;  &quot;' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='TimeInt2' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='tcount2 = tcount2 + 1' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='TimerInt' description='TimeInt' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='tcount = tcount + 1' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Turn_Forward_Back' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Beregning' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='//SwFB = Forward and Back' />
							<exp exp='tcount2 = 0' />
						</command>
						<command class_type='loop' title='Loop while SW is high' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='SwFB' start='0' >
							<flowline >
								<command class_type='call' title='Input CH2' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputDIGITAL' >
									<return exp='SwFB' />
									<argument exp='2' />
								</command>
							</flowline>
						</command>
						<command class_type='loop' title='Loop while SW is low' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='SwFB = 0' start='0' >
							<flowline >
								<command class_type='call' title='Input CH2' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputDIGITAL' >
									<return exp='SwFB' />
									<argument exp='2' />
								</command>
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Rising edge - Start timing' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='native' title='Reset timer register count value' ccode='TMR2 = 0;
' cmdcolor='3389439' cmdcolor_sec='3389439' language='C' />
						<command class_type='interrupt' title='Interrupt' ccode='// Interrupt
// Interrupt: Aktivere TMR1
intcon.GIE = 1; // Enable global interrupts 
' cmdcolor='3610239' cmdcolor_sec='3610239' enable='1' name='TMR2' call='TimeInt2' >
							<settings timer='1' prescale='8' postscale='-1' rollover='65536' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='1' />
								<option value='65536' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='loop' title='Loop while SW is high' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='SwFB' start='0' >
							<flowline >
								<command class_type='call' title='Input CH2' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputDIGITAL' >
									<return exp='SwFB' />
									<argument exp='2' />
								</command>
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Falling edge - Stop timing' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='interrupt' title='Interrupt' cmdcolor='3610239' cmdcolor_sec='3610239' enable='0' name='TMR2' >
							<settings timer='1' prescale='1' postscale='-1' rollover='0' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='native' title='Collect timer register count value' ccode='FCV_TSUMFB = TMR2;' cmdcolor='3389439' cmdcolor_sec='3389439' language='C' />
						<command class_type='call' title='Laver inputet om til 0 - 255 Bytes' cmdcolor='1975743' cmdcolor_sec='1975743' macro='Map_Forward_Back' >
							<return exp='Turn_Forward_Back' />
							<argument exp='tsumfb' />
							<argument exp='7035' />
							<argument exp='19358' />
							<argument exp='0' />
							<argument exp='255' />
						</command>
						<command class_type='comment' title='' comment='Motor 2' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='decision' title='Beslutning' cmdcolor='3568629' cmdcolor_sec='3568629' exp='Turn_Forward_Back &gt; 127' swap='0' >
							<flowline >
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
									<argument exp='0' />
									<argument exp='2' />
								</command>
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
									<argument exp='&quot;Turn Forward  :&quot;' />
								</command>
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
									<argument exp='16' />
									<argument exp='2' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
									<argument exp='Turn_Forward_Back' />
								</command>
								<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
									<argument exp='&quot;  &quot;' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Beslutning' cmdcolor='3568629' cmdcolor_sec='3568629' exp='Turn_Forward_Back &lt; 124' swap='0' >
									<flowline >
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
											<argument exp='0' />
											<argument exp='2' />
										</command>
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
											<argument exp='&quot;Turn Back     : &quot;' />
										</command>
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
											<argument exp='16' />
											<argument exp='2' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
											<argument exp='Turn_Forward_Back' />
										</command>
										<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
											<argument exp='&quot;  &quot;' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Map_Forward_Back' description='Map' >
						<return name='Return' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='Value' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='InLow' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='InHigh' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='OutLow' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='OutHigh' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='OutDiff' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='InDiff' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='Multiplier' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='Calc' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='3568629' cmdcolor_sec='3568629' exp='.Value &lt; .InLow' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='.Return = .OutLow' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='3568629' cmdcolor_sec='3568629' exp='.Value &gt; .InHigh' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Return = .OutHigh' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Calc = .Value - .InLow' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.InDiff = .InHigh - .InLow' />
											<exp exp='.OutDiff = .OutHigh - .OutLow' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Multiplier = FLOAT .OutDiff / FLOAT .InDiff' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Return = .Calc * .Multiplier' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Return = .Return + .OutLow' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Map_Right' description='Map' >
						<return name='Return' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='Value' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='InLow' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='InHigh' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='OutLow' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='OutHigh' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='OutDiff' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='InDiff' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
						<local name='Multiplier' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' />
						<local name='Calc' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='3568629' cmdcolor_sec='3568629' exp='.Value &lt; .InLow' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='.Return = .OutLow' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='3568629' cmdcolor_sec='3568629' exp='.Value &gt; .InHigh' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Return = .OutHigh' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Calc = .Value - .InLow' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.inDiff = .InHigh - .InLow' />
											<exp exp='.OutDiff = .OutHigh - .OutLow' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Multiplier = FLOAT .OutDiff / FLOAT .InDiff' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Return = .Calc * .Multiplier' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='.Return = .Return + .OutLow' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='MIAC Arduino 
CH2
' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Beregning' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='//Remote control system' />
							<exp exp='// InputDIGITAL(1) //run Motor (CH2)' />
							<exp exp='' />
							<exp exp='' />
						</command>
						<command class_type='comment' title='' comment='Forward direction and speed
Backward direction and speed' textarea='12,0,12,0' cmdcolor='1975743' cmdcolor_sec='1975743' />
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayStart' />
						<command class_type='call' title='Kald Komponent Macro' textarea='36,-8,36,-8' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayClear' />
						<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='0' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Kald Komponent Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
							<argument exp='&quot;MIAC-RC LawnMower&quot;' />
						</command>
						<command class_type='output' title='Enable Motor 1' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048581' mask='1' exp='1' />
						<command class_type='output' title='Enable Motor 2' cmdcolor='7895044' cmdcolor_sec='7895044' mode='1' port='1048581' mask='2' exp='1' />
						<command class_type='calculation' title='Beregning' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='DIG1 = 0 //is connected to MDDS60 pin DIG1.' />
							<exp exp='DIG2 = 0 //is connected to MDDS60 pin DIG2.' />
							<exp exp='AN1 = 0 // is connected to MDDS60 pin AN1.' />
							<exp exp='AN2 = 0 //is connected to MDDS60 pin AN2.' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Kald Macro' cmdcolor='1975743' cmdcolor_sec='1975743' macro='Turn_Forward_Back' />
								<command class_type='call' title='Turn Right And Left' cmdcolor='1975743' cmdcolor_sec='1975743' macro='Turn_Right_Left' />
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='596e6f4d-d87a-4e8b-b108-c0501127c382' vmin='2' vmaj='1' codename='miac_dspic1' x='60' y='88.25' z='0' xsz='133' ysz='98.5' zsz='57.75' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='LCD_X' data='17' />
					<value target='LCD_Y' data='0' />
					<value target='ORIGIN_X' data='3' />
					<value target='ORIGIN_Y' data='8' />
					<value target='ROWS' data='5' />
					<value target='COLS' data='20' />
					<value target='WIDTH' data='6' />
					<value target='HEIGHT' data='10' />
					<value target='TEMP_VAL' data='0b0000000' />
					<value target='GLYPH_COUNT' data='128' />
					<value target='Q1' data='$PORTD.0' />
					<value target='Q2' data='$PORTD.1' />
					<value target='Q3' data='$PORTD.2' />
					<value target='Q4' data='$PORTD.3' />
					<value target='A' data='$PORTD.4' />
					<value target='B' data='$PORTD.5' />
					<value target='C' data='$PORTD.6' />
					<value target='D' data='$PORTD.7' />
					<value target='DISPLAY_COLOUR' data='0xFF5757' />
					<value target='I1' data='$PORTB.0' />
					<value target='I2' data='$PORTB.1' />
					<value target='E1' data='$PORTF.0' />
					<value target='E2' data='$PORTF.1' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label3' x='80' y='30' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='Motor 1' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label4' x='110' y='30' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='Motor 2' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label1' x='80' y='20' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='DIG1' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label2' x='110' y='20' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='DIG2' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label5' x='80' y='10' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='15329791' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='AN1' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label6' x='110' y='10' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='AN2' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label7' x='30' y='160' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='RC InputDIGITAL(1)' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label8' x='30' y='150' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='RC InputDIGITAL(2)' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9a971ee1-28e0-4e47-9c09-71268383fc75' vmin='0' vmaj='1' codename='shape_label9' x='50' y='30' 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='0' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Color' data='16777215' />
					<value target='Background' data='-1' />
					<value target='Font' data='Arial' />
					<value target='Text' data='Output:' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
		</component>
	</components>
	<keymap />
	<panel2d shadows='0' lighting='2' brightness='0' perspective='0' >
		<background rgb='2105930' img='' style='0' />
		<camera xe='3.90493' ye='16.2564' ze='417.594' xt='3.90493' yt='16.2564' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
	</panel2d>
	<panel3d shadows='0' lighting='2' brightness='0' perspective='0' >
		<background rgb='8409120' img='' style='0' />
		<table rgb='7360576' img='' style='0' size='25' />
		<camera xe='77.0103' ye='88.9989' ze='251.075' xt='77.0103' yt='88.9989' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<camerakey0 xe='0' ye='0' ze='300' xt='0' yt='0' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<camerakey1 xe='-3.67394e-14' ye='0' ze='-300' xt='0' yt='0' zt='0' xquat='0' yquat='1' zquat='0' wquat='6.12323e-17' />
		<camerakey2 xe='0' ye='-300' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-0.707107' yquat='0' zquat='0' wquat='0.707107' />
		<camerakey3 xe='-3.67394e-14' ye='300' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-4.32978e-17' yquat='0.707107' zquat='0.707107' wquat='4.32978e-17' />
		<camerakey4 xe='-300' ye='-6.66134e-14' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-0.5' yquat='0.5' zquat='0.5' wquat='0.5' />
		<camerakey5 xe='300' ye='-6.66134e-14' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-0.5' yquat='-0.5' zquat='-0.5' wquat='0.5' />
		<camerakey6 xe='-173.205' ye='-173.205' ze='173.205' xt='0' yt='0' zt='0' xquat='-0.424708' yquat='0.17592' zquat='0.339851' wquat='0.820473' />
	</panel3d>
	<layout >
		<view type='0' name='Turn_Forward_Back' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAIwQAADADAAA' zoom='46' scrollx='0' scrolly='675' flags='0' />
		<view type='0' name='Turn_Right_Left' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAIwQAADADAAA' zoom='50' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Map_Right' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAIwQAADADAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Main' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAIwQAADADAAA' zoom='55' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='TimerInt' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAIwQAADADAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='TimeInt2' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAIwQAADADAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
	</layout>
</document>
</root>
