<root>
<document scada='0' projtype='1' schema='103' license='1,82702381,95CJQR' title='' description='' fcversion='720897' target='PICO.PICO.Raspberry_Pi_RP2040' >
	<config data='' clkspd='125000000' simspd='2' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='0' head='' body='' />
	<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='0' />
			<data name='ClockPin' value='1' />
			<data name='DataPort' value='0' />
			<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' />
			<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>
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	<components >
		<settings autoimg='0' center='1' unitscale='0' fixedscale='0' fixedx='25' fixedy='25' fixedz='25' headcode='0' />
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		<component class_type='root' codename='ComponentRoot' panelId='-1' 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' ancTop='0' ancBottom='0' ancLeft='0' ancRight='0' ancMinX='0' ancMinY='0' comp2dType='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='angle' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='pot' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Error' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Moved' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='Interrupt' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='Status' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='call' title='Component Macro' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='.Status' />
						</command>
						<command class_type='decision' title='Decision' exp='.Status = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='Moved = 1' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' exp='.Status = 255' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' >
									<exp exp='Error = 1' />
								</command>
								<command class_type='call' title='Component Macro' component='QuadEncoder1' macro='ResetCounter' />
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Component Macro' component='Servo_Controller1' macro='Initialise' />
						<command class_type='call' title='Component Macro' component='Servo_Controller1' macro='EnableServo' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Component Macro' component='QuadEncoder1' macro='Enable' />
						<command class_type='interrupt' title='Interrupt' enable='1' name='GPIO4INT' call='Interrupt' >
							<settings timer='0' prescale='-1' postscale='-1' rollover='-1' bitcount='-1' trigger='3' ppsport='-1' ppspin='-1' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='2' />
								<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='interrupt' title='Interrupt' enable='1' name='GPIO5INT' call='Interrupt' >
							<settings timer='0' prescale='-1' postscale='-1' rollover='-1' bitcount='-1' trigger='3' ppsport='-1' ppspin='-1' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='2' />
								<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='loop' title='Loop' type='0' exp='1' >
							<flowline >
								<command class_type='decision' title='Decision' exp='Moved' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' >
											<exp exp='Moved = 0' />
										</command>
										<command class_type='call' title='Component Macro' component='QuadEncoder1' macro='ReadCounter' >
											<return exp='pot' />
										</command>
										<command class_type='calculation' title='Calculation' >
											<exp exp='angle = pot * 180 / 1023' />
										</command>
										<command class_type='call' title='Component Macro' component='Servo_Controller1' macro='MoveToPosition' >
											<argument exp='0' />
											<argument exp='angle' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='' exp='Error' swap='0' >
									<flowline >
										<command class_type='comment' title='' comment='There was an error with the encoder the counter has been reset.' textarea='12,0,12,0' />
										<command class_type='calculation' title='Calculation' >
											<exp exp='Error = 0' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='delay' title='Delay' exp='10' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='9202a62e-0a42-4780-adce-16b701e5ec53' vmin='8' vmaj='8' codename='Servo_Controller1' panelId='0' x='606.322' y='-146' z='0' xsz='25.18' ysz='25.059' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='0' ancTop='0' ancBottom='0' ancLeft='0' ancRight='0' ancMinX='0' ancMinY='0' comp2dType='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='80' />
					<value target='CCPHi' data='122' />
					<value target='Servo_Clock_Count_25' data='3125' />
					<value target='Servo_Clock_Count_1280' data='15640' />
					<value target='Servo_Clock_Count_2500' data='31312' />
					<value target='Servo_Period_Multiplier' data='61' />
					<value target='IntRange' data='0 - 15615' />
					<value target='Divider' data='1' />
					<value target='RoundUp' data='0' />
					<value target='IntScaler' data='0.239139' />
					<value target='MaxPeriod' data='15555' />
					<value target='sim0' data='ServoMotor1' />
					<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>
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				<resources />
				<properties />
				<values >
					<value target='MoveType' data='000' />
					<value target='rot_min' data='0' />
					<value target='rot_max' data='180' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='50d58a97-3208-4ff3-bcd4-0d2b1c22dc1c' vmin='4' vmaj='7' codename='QuadEncoder1' panelId='0' x='256.138' y='-236' z='2' xsz='25.18' ysz='25' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='2' poslock='1' ancTop='0' ancBottom='0' ancLeft='0' ancRight='0' ancMinX='0' ancMinY='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='VarType' data='000' />
					<value target='InvertCount' data='0' />
					<value target='LimitValue' data='1' />
					<value target='MinVal' data='0' />
					<value target='MaxVal' data='1023' />
					<value target='Divider' data='001' />
					<value target='EdgesPerRev' data='16' />
					<value target='Resolution' data='22.500000' />
					<value target='pin_a' data='$PORTA.5' />
					<value target='pin_b' data='$PORTA.4' />
					<value target='reprate' data='350' />
					<value target='KnobColour' data='001' />
					<value target='PointerStyle' data='001' />
					<value target='ScopeTraces' data='0' />
					<value target='CircularKnob::Base2dGauge::brFill' data='288201676737716127' />
					<value target='CircularKnob::Base2dGauge::colFrameOutline' data='-1' />
					<value target='CircularKnob::Base2dGauge::brFrameFill' data='251262225375821824' />
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					<value target='CircularKnob::Base2dGauge::colTickMarkOutline' data='10855845' />
					<value target='CircularKnob::Base2dGauge::brTickMarkFill' data='288090190566653952' />
					<value target='CircularKnob::Base2dGauge::colCapOutline' data='-1' />
					<value target='CircularKnob::Base2dGauge::brCapFill' data='288201676737716127' />
					<value target='CircularKnob::Base2dGauge::sMainImage' data='' />
					<value target='CircularKnob::Base2dGauge::sCapImage' data='' />
					<value target='IsActuator' data='' />
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				<events />
				<apis />
				<variables />
				<macros />
			</component>
		</component>
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