<root>
<document scada='0' schema='102' license='10,FCDev,PUA8F7' title='' description='' fcversion='590336' target='PIC.16F.16F18877' >
	<config data='!0,3f8c!10,37fd!20,3f92!30,1fff!40,3fff%0,4%4,0%8,1%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' 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='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' />
			<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='739a27f8-8946-44d6-929d-4afcdaf2a998' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' category2='' category3='' bIs2dOnly='0' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='0' scadaCompatible='0' embeddedCompatible='1' iconpath='' />
		<gdiopts FullContainer='1' FullTransparency='1' ShowGdi='1' ShowOpengl='1' />
		<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' comp2dType='0' >
			<resources />
			<properties />
			<values />
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='count' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='mode' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</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='state' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</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='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='Loops through the various actuators on the Actuators board driving them 
one at a time in turn.

Actuators board connected to Port D.


LED Board connected to Port A &amp; LCD board connected to Port B.

OR Combo Board connected to Ports A and B.' textarea='12,0,12,0' cmdcolor='16760794' cmdcolor_sec='16760794' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' />
						<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='Start' />
						<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='Servo_Controller1' macro='Initialise' />
						<command class_type='delay' title='Delay' cmdcolor='13997295' cmdcolor_sec='13997295' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='100' type='1' />
						<command class_type='loop' title='Loop Forever - Main program loop' cmdcolor='16764845' cmdcolor_sec='16764845' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Clear LCD' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='Clear' />
								<command class_type='switch' title='Update Display to show what we&apos;re doing' textarea='36,-5,36,-5' cmdcolor='16169706' cmdcolor_sec='16169706' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='mode' >
									<case >
										<flowline >
											<command class_type='call' title='Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='motor_reversible1' macro='Coast' />
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='PrintString' >
												<argument exp='&quot;Stepper 1&quot;' />
											</command>
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='stepper_generic1' macro='EnableMotor' />
										</flowline>
									</case>
									<case exp='1' >
										<flowline >
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='PrintString' >
												<argument exp='&quot;Stepper 2&quot;' />
											</command>
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='stepper_generic1' macro='EnableMotor' />
										</flowline>
									</case>
									<case exp='2' >
										<flowline >
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='stepper_generic1' macro='DisableMotor' />
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='PrintString' >
												<argument exp='&quot;Servo 1&quot;' />
											</command>
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='Servo_Controller1' macro='EnableServo' >
												<argument exp='0' />
											</command>
										</flowline>
									</case>
									<case exp='3' >
										<flowline >
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='PrintString' >
												<argument exp='&quot;Servo 2&quot;' />
											</command>
										</flowline>
									</case>
									<case exp='4' >
										<flowline >
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='Servo_Controller1' macro='DisableServo' >
												<argument exp='0' />
											</command>
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='PrintString' >
												<argument exp='&quot;DC Motor 1&quot;' />
											</command>
										</flowline>
									</case>
									<case exp='5' >
										<flowline >
											<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='lcd_eb005' macro='PrintString' >
												<argument exp='&quot;DC Motor 2&quot;' />
											</command>
										</flowline>
									</case>
								</command>
								<command class_type='loop' title='Loop For A Bit To Allow Current Motor To Run' cmdcolor='16764845' cmdcolor_sec='16764845' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' type='0' exp='count &gt; 0' start='0' >
									<flowline >
										<command class_type='switch' title='Perform Motor Operation' textarea='39,1,39,1' cmdcolor='16169706' cmdcolor_sec='16169706' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='mode' >
											<case >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='stepper_generic1' macro='IncrementStep' />
												</flowline>
											</case>
											<case exp='1' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='stepper_generic1' macro='DecrementStep' />
												</flowline>
											</case>
											<case exp='2' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='Servo_Controller1' macro='SetPosition' >
														<argument exp='0' />
														<argument exp='count' />
													</command>
												</flowline>
											</case>
											<case exp='3' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='Servo_Controller1' macro='SetPosition' >
														<argument exp='0' />
														<argument exp='255 - count' />
													</command>
												</flowline>
											</case>
											<case exp='4' >
												<flowline >
													<command class_type='call' title='Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='motor_reversible1' macro='Forwards' >
														<argument exp='1' />
													</command>
												</flowline>
											</case>
											<case exp='5' >
												<flowline >
													<command class_type='call' title='Component Macro' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='motor_reversible1' macro='Reverse' >
														<argument exp='1' />
													</command>
												</flowline>
											</case>
										</command>
										<command class_type='calculation' title='Increment Counter' cmdcolor='15578361' cmdcolor_sec='15578361' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' >
											<exp exp='count = count + 1' />
										</command>
										<command class_type='decision' title='Has Counter Rolled Over?' cmdcolor='15578361' cmdcolor_sec='15578361' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='count = 0' swap='0' >
											<flowline >
												<command class_type='calculation' title='Move to next Motor Function' cmdcolor='15578361' cmdcolor_sec='15578361' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' >
													<exp exp='mode = mode + 1' />
												</command>
												<command class_type='decision' title='Have we reached the last function?' cmdcolor='15578361' cmdcolor_sec='15578361' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='mode = 6' swap='0' >
													<flowline >
														<command class_type='calculation' title='Restart to first motor function' cmdcolor='15578361' cmdcolor_sec='15578361' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' >
															<exp exp='mode = 0' />
														</command>
													</flowline>
													<flowline />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='delay' title='Around 2.5s delay per mode (255 * 0.01s)' cmdcolor='13997295' cmdcolor_sec='13997295' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='10' type='1' />
										<command class_type='call' title='Read the state of the digital motor feedback' cmdcolor='12350693' cmdcolor_sec='12350693' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' component='sw_slide_sub_pcb1' macro='ReadState' >
											<return exp='state' />
										</command>
										<command class_type='decision' title='Show feedback state on LEDs' cmdcolor='15578361' cmdcolor_sec='15578361' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' exp='state' swap='0' >
											<flowline >
												<command class_type='output' title='Output' cmdcolor='13206762' cmdcolor_sec='13206762' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' mode='0' port='1048576' mask='0' exp='0xff' usechipref='1' />
											</flowline>
											<flowline >
												<command class_type='output' title='Output' cmdcolor='13206762' cmdcolor_sec='13206762' cmdcolor_txt='0' cmdgradient='0' cmdopacity='1' mode='0' port='1048576' mask='0' exp='0x00' usechipref='1' />
											</flowline>
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='9202a62e-0a42-4780-adce-16b701e5ec53' vmin='0' vmaj='2' codename='Servo_Controller1' x='-19.1346' y='113.037' z='6' xsz='33.3209' ysz='33.3209' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Channel_Count' data='001' />
					<value target='pin0' data='$PORTD.0' />
					<value target='pin1' data='$PORTD.0' />
					<value target='pin2' data='$PORTD.0' />
					<value target='pin3' data='$PORTD.0' />
					<value target='pin4' data='$PORTD.0' />
					<value target='pin5' data='$PORTD.0' />
					<value target='pin6' data='$PORTD.0' />
					<value target='pin7' data='$PORTD.0' />
					<value target='Peripherals' data='PWM0 + PWM1 + Timer1' />
					<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='0' />
					<value target='trim7' data='0' />
					<value target='min_pulse_width' data='1280' />
					<value target='max_pulse_width' data='2500' />
					<value target='CCPLo' data='32' />
					<value target='CCPHi' data='78' />
					<value target='Servo_Clock_Count_25' data='200' />
					<value target='Servo_Clock_Count_1280' data='10240' />
					<value target='Servo_Clock_Count_2500' data='20000' />
					<value target='Servo_Period_Multiplier' data='38' />
					<value target='IntRange' data='0 - 9727' />
					<value target='Divider' data='0' />
					<value target='RoundUp' data='0' />
					<value target='IntScaler' data='0.148928' />
					<value target='MaxPeriod' data='9690' />
					<value target='sim0' data='standard_servo1' />
					<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='cc031290-2255-4e8d-b382-1998c8dda95a' vmin='1' vmaj='1' codename='standard_servo1' x='-90.8549' y='121.163' z='-350.022' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='target_object' data='' />
					<value target='ReverseOutput' data='0' />
					<value target='IsMotor' data='1' />
					<value target='servo_base::MoveType' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='cfd176dc-a2c1-4dad-ac45-117781624c82' vmin='0' vmaj='2' codename='stepper_generic1' x='-94.2178' y='49.9212' z='-330.047' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='stepper_base::Driver' data='000' />
					<value target='stepper_base::StepPin' data='$PORTD.3' />
					<value target='stepper_base::DirectionPin' data='$PORTD.5' />
					<value target='stepper_base::EnablePin' data='$PORTD.4' />
					<value target='stepper_base::EnableState' data='000' />
					<value target='stepper_base::PulseWidth' data='1' />
					<value target='stepper_base::Coil_1' data='$PORTD.3' />
					<value target='stepper_base::Coil_2' data='$PORTD.5' />
					<value target='stepper_base::Coil_3' data='$PORTD.4' />
					<value target='stepper_base::Coil_4' data='$PORTD.6' />
					<value target='stepper_base::Winding_Type' data='000' />
					<value target='stepper_base::Step_Type' data='002' />
					<value target='stepper_base::Steps_Per_Rev' data='100' />
					<value target='stepper_base::Waveforms' data='1' />
					<value target='stepper_base::coils_enable' data='1' />
					<value target='arrow_enable' data='1' />
					<value target='target_object' data='' />
					<value target='stepper_base::gear_ratio' data='1.000000' />
					<value target='stepper_base::x_pitch' data='0.000000' />
					<value target='stepper_base::y_pitch' data='0.000000' />
					<value target='stepper_base::z_pitch' data='0.000000' />
					<value target='IsMotor' data='1' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='3becc5a1-4034-45ca-b84f-d995c6cacdb2' vmin='2' vmaj='1' codename='motor_reversible1' x='-26.8342' y='122.271' z='-323.459' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='1' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='ControlMethod' data='000' />
					<value target='BridgeType' data='001' />
					<value target='EnableMethod' data='000' />
					<value target='EnablePin' data='' />
					<value target='EnablePolarity' data='000' />
					<value target='pinA' data='$PORTD.1' />
					<value target='pinB' data='$PORTD.2' />
					<value target='pattern_fwd' data='001' />
					<value target='pattern_rvs' data='002' />
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