<root>
<document scada='0' schema='102' license='1,Rob_Johnson,9K7JPQ' title='' description='' fcversion='524802' target='PIC16.24F.24F16KA101' >
	<config data='!0,ffff!10,ffff!20,fff8!30,ff3b!40,ff7f!50,ffff!60,ffff!70,ffff%0,1%1,7%10,1%11,1%20,0%27,1%30,3%32,0%33,3%35,1%36,0%40,f%44,1%46,1%47,0%50,3%53,1%54,1%55,3%57,1%60,3%66,1%67,1%70,f%74,1%75,1%76,1%77,1' clkspd='8000000' simspd='1' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<debug >
		<watch expr='Head_pos' />
		<watch expr='Head_speed' />
		<watch expr='Jaw_pos' />
		<watch expr='in' />
		<watch expr='jaw_speed' />
		<watch expr='loop' />
		<watch expr='moving' />
		<watch expr='notin' />
		<watch expr='rnd' />
		<watch expr='shall_I_sleep' />
		<watch expr='srnd' />
		<watch expr='sw1' />
		<watch expr='time_delay' />
		<watch expr='srnd' />
		<watch expr='test' />
	</debug>
	<traces />
	<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='1' />
			<data name='DataPort' value='1' />
			<data name='DataPin' value='0' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='21' />
			<data name='CalculatedCommsDelay' value='21' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</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='' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='0' 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 >
				<property name='Info' target='IntOscHelper1::Info' typeid='11' hidden='0' locked='1' info='General info to the user, checks to see if the selected oscillator speed matches the project oscillator speed.' />
			</properties>
			<values >
				<value target='IntOscHelper1::Info' data='No Internal Oscillator Settings Found, does this device have an internal oscillator?' />
			</values>
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='jawposmid' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='in' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='jaw_speed' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='test' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='headposmid' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Head_speed' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='rnd' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='sw1' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='jawposmax' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='notin' type='u8' description='' isconst='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Jaw_pos' type='u8' description='' isconst='0' isinit='1' usrinit='128' setinit='128' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='time_delay' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='jaw' type='s16' description='' isconst='1' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='adc' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='headposmax' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='shall_I_sleep' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='head' type='s16' description='' isconst='1' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='moving' type='b1' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='srnd' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='jawposmin' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Head_pos' type='u16' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='loop' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='headposmin' type='u8' description='' isconst='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
			</variables>
			<macros >
				<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='1879295' cmdcolor_sec='5751039' component='Servo_Controller2' macro='Initialise' />
						<command class_type='call' title='Call Component Macro' cmdcolor='1879295' cmdcolor_sec='5751039' component='Servo_Controller2' macro='EnableServo' >
							<argument exp='0' />
						</command>
						<command class_type='comment' title='' comment='Servo position controlled inside a timer interrupt macro
Running at approx 7Hz' textarea='12,0,12,0' cmdcolor='10944511' cmdcolor_sec='11465458' />
						<command class_type='interrupt' title='Interrupt' cmdcolor='17151' cmdcolor_sec='355583' enable='1' name='TMR1' call='TimerInterrupt' >
							<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' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='comment' title='' comment='Debug 1 second LED flasher
Confirm the chip is running correctly
if the output is approx 1s on and 1s off' textarea='12,0,12,0' cmdcolor='10944511' cmdcolor_sec='11465458' />
						<command class_type='loop' title='Loop' cmdcolor='12615680' cmdcolor_sec='15376912' type='0' exp='1' >
							<flowline >
								<command class_type='output' title='Output' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048576' mask='1' exp='1' />
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='1' type='2' />
								<command class_type='output' title='Output' cmdcolor='16762795' cmdcolor_sec='13879979' mode='1' port='1048576' mask='1' exp='0' />
								<command class_type='delay' title='Delay' cmdcolor='12632064' cmdcolor_sec='16769676' exp='1' type='2' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='TimerInterrupt' 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='adc' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='1879295' cmdcolor_sec='5751039' component='Servo_Controller2' macro='SetPosition' >
							<argument exp='0' />
							<argument exp='adc' />
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='d92e8259-f3a8-4176-a8c4-fe7ca42b2c3f' vmin='1' vmaj='1' codename='led_5mm2' x='-110' y='100' 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 >
					<value target='pin' data='$PORTB.0' />
					<value target='polarity' data='001' />
					<value target='on_color' data='255' />
					<value target='length' data='4.000000' />
					<value target='show_label' data='002' />
					<value target='label_property' data='pin' />
					<value target='label_color' data='16777215' />
					<value target='label_scale' data='1.000000' />
					<value target='label_auto_scale' data='0' />
					<value target='label_position' data='003' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9202a62e-0a42-4780-adce-16b701e5ec53' vmin='0' vmaj='2' codename='Servo_Controller2' x='-60' y='40' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='1' poslock='0' >
				<resources />
				<properties />
				<values >
					<value target='Channel_Count' data='001' />
					<value target='pin0' data='$PORTA.1' />
					<value target='pin1' data='$PORTA.1' />
					<value target='pin2' data='$PORTA.1' />
					<value target='pin3' data='$PORTA.1' />
					<value target='pin4' data='$PORTA.1' />
					<value target='pin5' data='$PORTA.1' />
					<value target='pin6' data='$PORTA.1' />
					<value target='pin7' data='$PORTA.1' />
					<value target='Peripherals' data='Timer2 + Timer3' />
					<value target='TrimMode' data='001' />
					<value target='trim0' data='000' />
					<value target='trim1' data='0' />
					<value target='trim2' data='0' />
					<value target='trim3' data='0' />
					<value target='trim4' data='0' />
					<value target='trim5' data='0' />
					<value target='trim6' data='000' />
					<value target='trim7' data='0' />
					<value target='min_pulse_width' data='1000' />
					<value target='max_pulse_width' data='2000' />
					<value target='CCPLo' data='72' />
					<value target='CCPHi' data='31' />
					<value target='Servo_Clock_Count_25' data='100' />
					<value target='Servo_Clock_Count_1280' data='4002' />
					<value target='Servo_Clock_Count_2500' data='8008' />
					<value target='Servo_Period_Multiplier' data='15' />
					<value target='IntRange' data='0 - 3839' />
					<value target='Divider' data='0' />
					<value target='RoundUp' data='1' />
					<value target='IntScaler' data='0.061128' />
					<value target='sim0' data='micro_servo2' />
					<value target='sim1' data='' />
					<value target='sim2' data='' />
					<value target='sim3' data='' />
					<value target='sim4' data='' />
					<value target='sim5' data='' />
					<value target='sim6' data='' />
					<value target='sim7' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='b6fdc61f-7be2-49c7-925f-aea3dc284cba' vmin='1' vmaj='1' codename='micro_servo2' x='21' y='34' z='0.93825' 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 >
					<value target='target_object' data='' />
					<value target='ReverseOutput' data='0' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='3e5cc6d0-3e36-46b8-bc40-f238a5735b6e' vmin='0' vmaj='1' codename='IntOscHelper1' x='-140' y='90' 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 >
					<value target='OscSpeed' data='000' />
					<value target='OscFreq' data='32000000' />
					<value target='ClockSpeed' data='8000000' />
					<value target='Info' data='No Internal Oscillator Settings Found, does this device have an internal oscillator?' />
					<value target='Code' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='e2ed1829-6967-4339-98e1-3806650297c5' vmin='1' vmaj='1' codename='DeviceHelper1' x='-140' y='110' 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 >
					<value target='PinCount' data='20' />
					<value target='MaxClock' data='32000000' />
					<value target='Divider' data='2' />
					<value target='MaxInst' data='16.000000' />
					<value target='ROMSize' data='16384' />
					<value target='RAMSize' data='1536' />
					<value target='EESize' data='512' />
					<value target='ADCBits' data='10' />
					<value target='ADCPins' data='9' />
					<value target='DACMaxBits' data='0' />
					<value target='DACPins' data='0' />
					<value target='DigPins' data='18' />
					<value target='CANCount' data='0' />
					<value target='I2CCount' data='1' />
					<value target='I2CModel' data='Master &amp; Slave' />
					<value target='HB_Count' data='0' />
					<value target='PWMCount' data='1' />
					<value target='SPICount' data='1' />
					<value target='UARTCount' data='2' />
					<value target='USBCount' data='0' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='fc3c670c-502a-418f-a123-649179752383' vmin='0' vmaj='1' codename='fcdhelper1' x='-140' y='70' z='0' xsz='20' ysz='20' zsz='20' 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>
			<component class_type='ref' guid='1a8c2bb7-8bed-4a1c-9186-ba24688c8840' vmin='3' vmaj='1' codename='slider_plastic1' x='-170' y='50' z='24.1525' 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 >
					<value target='tang_col' data='16711680' />
					<value target='mark_col' data='255' />
					<value target='body_color' data='12632256' />
					<value target='ScopeTraces' data='0' />
					<value target='channel' data='0' />
					<value target='vrefvol' data='300' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='003' />
					<value target='actime' data='40' />
					<value target='bits' data='10' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
		</component>
	</components>
	<scadaresourcelookup />
	<keymap />
	<panel2d shadows='0' lighting='2' brightness='0' >
		<background rgb='9737364' img='' style='0' />
		<camera xe='-71.554' ye='54.9392' ze='287.431' xt='-71.554' yt='54.9392' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
	</panel2d>
	<panel3d shadows='1' lighting='2' brightness='0' perspective='1' >
		<background rgb='8409120' img='' style='0' />
		<table rgb='7884836' img='' style='0' size='25' />
		<camera xe='-47.8052' ye='106.931' ze='606.039' xt='-47.8052' yt='106.931' zt='1.73847' 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='Main' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAewcAAH4DAAA' zoom='60' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='TimerInterrupt' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAAewcAAH4DAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
	</layout>
</document>
</root>
