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<document schema='101' license='1,JayDee,6TNVMV' title='' description='' target='PIC16.33E.MIAC (dsPIC)' >
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		<dll_webhelp enabled='1' />
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	<debug >
		<watch expr='SetPoint' />
		<watch expr='Control' />
		<watch expr='B_Input1' />
		<watch expr='MD04_Func' />
		<watch expr='B_Input3' />
		<watch expr='B_Input2' />
		<watch expr='FeedBack' />
		<watch expr='Var1_SINT' />
		<watch expr='Var1Abs_UINT' />
	</debug>
	<components >
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			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
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					<def class_type='variable' name='Count' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='R_Freq' type='f32' description='' isconst='0' isinit='0' usrinit='0.0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ctrl_Dir' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MD04_Spd' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ctrl_DeadBandActive' type='u16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PID_SetPoint' type='s16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Exit' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='StepDelay' type='u16' description='Delay in ms between steps' 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='Ctrl_Magnetude' type='u16' description='0' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Select' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='RetVal' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Control' type='s16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MD04_Cmd' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MD04_Acc' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Var1_SINT' type='s16' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Error' type='s16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='P_Gain' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MD04_Func' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Method' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='StepCount' type='s16' description='Number of Steps to Increment motor by' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='WaveOut' type='s16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='B_Input3' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='B_Input2' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='B_Input1' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ctrl_MaxSpd' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Option' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ctrl_Deadband' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='SetPoint' type='s16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='FeedBack' type='s16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ctrl_MinSpd' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Var1Abs_UINT' 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='Disp_UpDate_All' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<param name='Var1' type='s16' description='Signed Integer Value' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='Var2' type='s16' description='Signed Integer Value' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='Var3' type='s16' description='Signed Integer Value' isconst='0' isinit='0' usrinit='0' setinit='' />
						<param name='Var4' type='s16' description='Signed Integer Value' isconst='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
							<argument exp='&quot;        &quot;' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='1' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
							<argument exp='.Var1' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='2' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
							<argument exp='&quot;        &quot;' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='2' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
							<argument exp='.Var2' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
							<argument exp='&quot;        &quot;' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
							<argument exp='.Var3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='4' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintString' >
							<argument exp='&quot;        &quot;' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayCursor' >
							<argument exp='10' />
							<argument exp='4' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='PrintNumber' >
							<argument exp='.Var4' />
						</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 Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='DisplayStart' />
						<command class_type='loop' title='Loop' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Just get a variable for test' cmdcolor='1975743' cmdcolor_sec='1975743' component='miac_dspic1' macro='InputANALOG' >
									<return exp='B_Input1' />
									<argument exp='1' />
								</command>
								<command class_type='calculation' title='Just for test, Convert Input Variable to a Negative Value' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='Var1_SINT = - (B_Input1)' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='3568629' cmdcolor_sec='3568629' exp='Var1_SINT &lt; 0' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
											<exp exp='Var1_SINT = -1 * Var1_SINT' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='1975743' cmdcolor_sec='1975743' macro='Disp_UpDate_All' >
									<argument exp='B_Input1' />
									<argument exp='Var1_SINT' />
									<argument exp='Var1Abs_UINT' />
									<argument exp='0' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='7895044' cmdcolor_sec='7895044' exp='200' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
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					<value target='A' data='$PORTD.4' />
					<value target='B' data='$PORTD.5' />
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					<value target='proportional' data='3.000000' />
					<value target='integral' data='2.000000' />
					<value target='derivative' data='2.000000' />
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					<value target='buff_a_name' data='Buff_Feedback' />
					<value target='buff_b_name' data='Buff_ControlOut' />
					<value target='buff_c_name' data='Buff_Control' />
					<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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