<root>
<document schema='101' license='1,Dev User,HJVC24' title='' description='' target='PIC.16F.16F18877' >
	<config data='!0,3e9a!10,37fd!20,3f92!30,1fff!40,3fff%0,2%4,1%8,0%b,1%d,1%10,1%11,0%15,1%16,3%19,1%1a,1%1b,0%1c,1%1d,1%20,12%25,0%28,7%2b,7%30,3%3c,1%3d,0%40,1%41,1' clkspd='32000000' 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 />
	<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='1' />
			<data name='ClockPin' value='6' />
			<data name='DataPort' value='1' />
			<data name='DataPin' value='7' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='6' />
			<data name='CalculatedCommsDelay' value='6' />
		</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='46e5cb4f-8f7a-4e30-9e75-5066f67f9996' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' 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 />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='EncoderDelayCounter' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MotorEnabled' type='b1' 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='TimerCutoffDelayCount' type='s16' description='' isconst='1' isinit='1' usrinit='20' setinit='20' />
				</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='EncINT' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Shaft Rotating - Reset counter to 0' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='EncoderDelayCounter = 0' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='TimerINT' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='3568629' cmdcolor_sec='3568629' exp='MotorEnabled' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='EncoderDelayCounter = EncoderDelayCounter + 1' />
								</command>
								<command class_type='decision' title='Has enough timer passed?' cmdcolor='3568629' cmdcolor_sec='3568629' exp='EncoderDelayCounter = TimerCutoffDelayCount' swap='0' >
									<flowline >
										<command class_type='call' title='Ensure Motor Driver is disabled' cmdcolor='1975743' cmdcolor_sec='1975743' macro='DisableMotor' />
										<command class_type='call' title='Switch On Error LED' cmdcolor='1975743' cmdcolor_sec='1975743' component='ErrorLED' macro='TurnOn' />
										<command class_type='loop' title='Block Forever - Reset Required' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='1' >
											<flowline />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Motor Disabled - Reset counter to 0' cmdcolor='7895044' cmdcolor_sec='7895044' >
									<exp exp='EncoderDelayCounter = 0' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='EnableMotor' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Enable Motor Flag' cmdcolor='7895044' cmdcolor_sec='7895044' >
							<exp exp='MotorEnabled = 1' />
						</command>
						<command class_type='call' title='Enable PWM' cmdcolor='1975743' cmdcolor_sec='1975743' component='PWM1' macro='Enable' />
					</flowline>
				</macro>
				<macro >
					<flowline name='DisableMotor' 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='MotorEnabled = 0' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1975743' cmdcolor_sec='1975743' component='PWM1' macro='Disable' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='interrupt' title='Enable Supervisor Timer' cmdcolor='3610239' cmdcolor_sec='3610239' enable='1' name='TMR0' call='TimerINT' >
							<settings timer='1' prescale='1' postscale='5' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='4' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='interrupt' title='Enable Encoder Edge Interrupt' cmdcolor='3610239' cmdcolor_sec='3610239' enable='1' name='IOC0' call='EncINT' >
							<settings timer='0' prescale='-1' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='AAMA----------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='AAMA----------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='call' title='Enable Motor Output' cmdcolor='1975743' cmdcolor_sec='1975743' macro='EnableMotor' />
						<command class_type='call' title='Set Motor PWM Duty' cmdcolor='1975743' cmdcolor_sec='1975743' component='PWM1' macro='SetDutyCycle' >
							<argument exp='50' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='3568629' cmdcolor_sec='3568629' type='0' exp='1' >
							<flowline />
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='7fdaec78-394e-4ec9-a578-4f1a12a12076' vmin='1' vmaj='1' codename='ErrorLED' x='0' y='25' 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='pin' data='$PORTA.0' />
					<value target='polarity' data='001' />
					<value target='on_color' data='255' />
					<value target='show_label' data='002' />
					<value target='label_property' data='pin' />
					<value target='label_color' data='16777215' />
					<value target='label_scale' data='1.000000' />
					<value target='label_auto_scale' data='0' />
					<value target='label_position' data='003' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='444fb704-814c-4707-a15c-759ba088505c' vmin='8' vmaj='1' codename='PWM1' x='1' y='-1' z='1' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' interactive='1' solid='1' layer='0' poslock='1' >
				<resources />
				<properties />
				<values >
					<value target='channel' data='001' />
					<value target='altpin' data='0' />
					<value target='pwm_pin' data='$PORTB.0' />
					<value target='RemapPin' data='000' />
					<value target='timer' data='2' />
					<value target='period' data='255' />
					<value target='prescale' data='000' />
					<value target='period_calc' data='32.000000' />
					<value target='frequency_calc' data='31.250000' />
					<value target='pwm_prescale' data='1' />
					<value target='SimRep' data='001' />
				</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='0' ye='0' ze='300' xt='0' yt='0' 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='0' />
		<camera xe='0' ye='0' ze='300' xt='0' yt='0' 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='TimerINT' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAA6AQAAH4DAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='EncINT' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAA6AQAAH4DAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='EnableMotor' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAA6AQAAH4DAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='DisableMotor' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAA6AQAAH4DAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Main' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAA6AQAAH4DAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
	</layout>
</document>
</root>
