<root>
<document scada='0' schema='102' license='1,jgu1,EPJXQU' title='' description='' fcversion='524545' target='ARD.ATMEGA.Arduino Mega 2560 R3' >
	<config data='' clkspd='16000000' simspd='1' usewdt='0' constif='0' commport='7' />
	<plugins >
		<dll_models 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='7' />
			<data name='ClockPin' value='6' />
			<data name='DataPort' value='7' />
			<data name='DataPin' value='5' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='11' />
			<data name='CalculatedCommsDelay' value='11' />
		</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='e4d3c85e-2f77-4d21-ab09-a5dc25bb7ccf' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' scadaCompatible='0' embeddedCompatible='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' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='Hojr_Loop' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Low_Speed' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Batteri' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='V_Mellem' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Tik' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='V_Yder_Analog' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</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='Sek' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='H_Mellem' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='H_Yder_Analog' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='High_speed' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='V_Midt' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='V_yderst' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Venst_Loop' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='H_yderst' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Noedstop' type='u8' 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>
				<variable public='0' >
					<def class_type='variable' name='H_Midt' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='Hojre_Yderst' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048579' mask='128' exp='H_yderst' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='H_yderst = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='110' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='255' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='delay' title='Dela' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
								<command class_type='label' title='Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='A' />
								<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048579' mask='128' exp='H_yderst' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='H_yderst = 1' swap='0' >
									<flowline >
										<command class_type='goto' title='Goto Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='' />
									</flowline>
									<flowline >
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='High_speed' />
										</command>
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='High_speed' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Loop_H' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048583' mask='8' exp='Hojr_Loop' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Hojr_Loop = 0' swap='0' >
							<flowline >
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='150' type='1' />
								<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048583' mask='8' exp='Hojr_Loop' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Hojr_Loop = 0' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Stop_Bak_Stop' />
										<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='32' exp='1' />
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='140' />
										</command>
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='240' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
											<exp exp='Tik = 0' />
											<exp exp='Sek = 0' />
										</command>
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='3' type='2' />
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='500' type='1' />
										<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Venstre_Mellem' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Venstre Mellem' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='2' exp='V_Mellem' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='V_Mellem = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='250' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='0' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='delay' title='Dela' cmdcolor='12632064' cmdcolor_sec='16769676' exp='300' type='1' />
								<command class_type='label' title='Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='A' />
								<command class_type='input' title='Venstre Mellem' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='2' exp='V_Mellem' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='V_Mellem = 1' swap='0' >
									<flowline >
										<command class_type='goto' title='Goto Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='' />
									</flowline>
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Lige_ud' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='32' exp='1' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='150' />
						</command>
						<command class_type='call' title='50' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='150' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
							<exp exp='Tik = 0' />
							<exp exp='Sek = 0' />
						</command>
						<command class_type='delay' title='' cmdcolor='12632064' cmdcolor_sec='16769676' exp='100' type='1' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='160' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='160' />
						</command>
						<command class_type='delay' title='' cmdcolor='12632064' cmdcolor_sec='16769676' exp='100' type='1' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='175' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='175' />
						</command>
						<command class_type='delay' title='' cmdcolor='12632064' cmdcolor_sec='16769676' exp='100' type='1' />
						<command class_type='call' title='Knive' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM3' macro='SetDutyCycle' >
							<argument exp='255' />
						</command>
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='High_speed' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='High_speed' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Stop_Bak_Stop' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='32' exp='0' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='1' />
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
						<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='0' />
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
						<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='1' />
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
						<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='0' />
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='300' type='1' />
						<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
							<exp exp='Tik = 0' />
							<exp exp='Sek = 0' />
						</command>
						<command class_type='output' title='Bak' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='16' exp='1' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='150' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='150' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='500' type='1' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='200' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='200' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='2' type='2' />
						<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
							<exp exp='Tik = 0' />
							<exp exp='Sek = 0' />
						</command>
						<command class_type='output' title='Bak' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='16' exp='0' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='1' type='2' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Venstre_Yderst' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Venstre yderste' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='1' exp='V_yderst' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='V_yderst = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='110' />
								</command>
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='255' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='delay' title='Dela' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
								<command class_type='label' title='Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='A' />
								<command class_type='input' title='Venstre yderste' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='1' exp='V_yderst' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='V_yderst = 1' swap='0' >
									<flowline >
										<command class_type='goto' title='Goto Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='' />
									</flowline>
									<flowline >
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='High_speed' />
										</command>
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='High_speed' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Hojre_Mellem' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='H_Mellem' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='16' exp='H_Mellem' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='H_Mellem = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='0' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='250' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='delay' title='Dela' cmdcolor='12632064' cmdcolor_sec='16769676' exp='300' type='1' />
								<command class_type='label' title='Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='A' />
								<command class_type='input' title='H_Mellem' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='16' exp='H_Mellem' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='H_Mellem = 1' swap='0' >
									<flowline >
										<command class_type='goto' title='Goto Connection Point' cmdcolor='12615680' cmdcolor_sec='15376912' labelid='0' labelname='' />
									</flowline>
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Loop_Venstre' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048583' mask='32' exp='Venst_Loop' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Venst_Loop = 0' swap='0' >
							<flowline >
								<command class_type='delay' title='Prell' cmdcolor='12632064' cmdcolor_sec='16769676' exp='150' type='1' />
								<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048583' mask='32' exp='Venst_Loop' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Venst_Loop = 0' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Stop_Bak_Stop' />
										<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='32' exp='1' />
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='140' />
										</command>
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='240' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
											<exp exp='Tik = 0' />
											<exp exp='Sek = 0' />
										</command>
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='3' type='2' />
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='500' type='1' />
										<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Hojre_Midt' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='H_Midt' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='8' exp='H_Midt' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='H_Midt = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Stop_Bak_Stop' />
								<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='32' exp='1' />
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='140' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='240' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='2' type='2' />
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='0' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='0' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='500' type='1' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Noedstop' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048579' mask='8' exp='Noedstop' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Noedstop = 1' swap='0' >
							<flowline >
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='3' type='2' />
								<command class_type='input' title='Input' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048579' mask='8' exp='Noedstop' />
								<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Noedstop = 1' swap='0' >
									<flowline >
										<command class_type='loop' title='Loop' cmdcolor='10551295' cmdcolor_sec='255' type='0' exp='1' >
											<flowline >
												<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
													<argument exp='0' />
												</command>
												<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
													<argument exp='0' />
												</command>
												<command class_type='call' title='Knive' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM3' macro='SetDutyCycle' >
													<argument exp='0' />
												</command>
												<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048579' mask='8' exp='0' />
												<command class_type='output' title='Bak' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048579' mask='4' exp='0' />
												<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='1' />
												<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='1' type='2' />
												<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='0' />
												<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='500' type='1' />
											</flowline>
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Batteri_Tilstand' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' cmdcolor='1879295' cmdcolor_sec='5751039' component='slider_plastic1' macro='GetByte' >
							<return exp='Batteri' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Batteri &lt; 175' swap='0' >
							<flowline >
								<command class_type='loop' title='Loop' cmdcolor='10551295' cmdcolor_sec='255' type='0' exp='1' >
									<flowline >
										<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='call' title='Knive' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM3' macro='SetDutyCycle' >
											<argument exp='0' />
										</command>
										<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048579' mask='8' exp='0' />
										<command class_type='output' title='Bak' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048579' mask='4' exp='0' />
										<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='1' />
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
										<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='0' />
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
										<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='1' />
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='200' type='1' />
										<command class_type='output' title='Bipper' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048578' mask='2' exp='0' />
										<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='2' type='2' />
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='16760919' cmdcolor_sec='16760832' >
							<exp exp='Tik = Tik + 1' />
						</command>
						<command class_type='decision' title='Decision' disable='1' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Tik &gt; 61' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' disable='1' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = Sek + 1' />
								</command>
								<command class_type='decision' title='Decision' disable='1' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Sek &gt; 10' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' disable='1' cmdcolor='16760919' cmdcolor_sec='16760832' >
											<exp exp='Tik = 0' />
											<exp exp='Sek = 0' />
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='Decision' disable='1' cmdcolor='12615680' cmdcolor_sec='15376912' exp='Sek &gt; 5' swap='0' >
											<flowline />
											<flowline />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Venstre_Midt' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='V_Midt' cmdcolor='10616768' cmdcolor_sec='4470784' mode='1' port='1048577' mask='4' exp='V_Midt' />
						<command class_type='decision' title='Decision' cmdcolor='12615680' cmdcolor_sec='15376912' exp='V_Midt = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Stop_Bak_Stop' />
								<command class_type='output' title='Frem' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048580' mask='32' exp='1' />
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='240' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='140' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='2' type='2' />
								<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
									<argument exp='0' />
								</command>
								<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
									<argument exp='0' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='500' type='1' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' >
						<return name='Return' type='v0' description='' isconst='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='Ver. 1.6: Bak ændret fra 3 til 2 sekunder. Prell delay i Loop H og V 300mS &lt; 200mS
Ver. 1.7: 24/4-2019 Prell igen ændret fra 200 mS &gt; 150 mS
          Bipper added  i Stop bak C1
          Hastighed 190 &gt; 200
          Lige ud. delay step sat ned fra 200 &lt; 100 mS
Ver. 1.9: Nødstop er Prelldeelay ændret fra 1 &gt; 3 Sek.
          Interrupttimer fjernet.
          Batteri måler tilført.
          ' textarea='12,0,12,0' cmdcolor='10944511' cmdcolor_sec='11465458' />
						<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='2' type='2' />
						<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
							<exp exp='High_speed = 200' />
							<exp exp='Low_Speed = 140' />
						</command>
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='Enable' />
						<command class_type='call' title='Højre hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='Enable' />
						<command class_type='call' title='Kniv' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM3' macro='Enable' />
						<command class_type='call' title='Venstr hjul' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM1' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='50' cmdcolor='1879295' cmdcolor_sec='5751039' component='PWM2' macro='SetDutyCycle' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Lige_ud' />
						<command class_type='interrupt' title='Interrupt' cmdcolor='17151' cmdcolor_sec='355583' enable='1' name='INT3' call='Noedstop' >
							<settings timer='0' prescale='-1' postscale='-1' rollover='-1' bitcount='-1' trigger='1' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='10551295' cmdcolor_sec='255' type='0' exp='1' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='16760919' cmdcolor_sec='16760832' >
									<exp exp='Tik = 0' />
									<exp exp='Sek = 0' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Batteri_Tilstand' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Loop_H' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Loop_Venstre' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Venstre_Yderst' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Venstre_Midt' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Venstre_Mellem' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Hojre_Yderst' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Hojre_Mellem' />
								<command class_type='call' title='Call Macro' cmdcolor='1879295' cmdcolor_sec='5751039' macro='Hojre_Midt' />
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='group' codename='group1' x='-9525.29' y='2500.98' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values />
				<events />
				<apis />
				<variables />
				<macros />
				<component class_type='ref' guid='444fb704-814c-4707-a15c-759ba088505c' vmin='9' vmaj='1' codename='PWM1' x='-74.7111' y='59.0162' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='1' poslock='1' >
					<resources />
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