<root>
<document scada='0' schema='102' license='1,96450348,R84MNU' title='' description='' fcversion='590336' target='PIC.18F.18F2553' >
	<config data='!0,38c1!10,fed8!20,79ff!30,ff9b!40,ffff!50,ffff!60,ffff%0,1%3,0%5,0%8,8%e,0%f,0%10,0%11,0%13,3%15,0%18,0%19,f%28,1%29,0%2a,0%2f,0%30,1%32,0%35,0%36,0%37,1%40,1%41,1%42,1%43,1%4e,1%4f,1%50,1%51,1%52,1%53,1%5d,1%5e,1%5f,1%60,1%61,1%62,1%63,1%6e,1' clkspd='8000000' simspd='2' usewdt='1' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='1' head='unsigned char TRISE;' body='' />
	<debug >
		<watch expr='n' />
		<watch expr='Profile' />
		<watch expr='VMAX' />
		<watch expr='error' />
		<watch expr='Velocity_Float' />
		<watch expr='Eprom_var' />
		<watch expr='e' />
		<watch expr='seconds_count_ulong' />
		<watch expr='seconds_count_store_ulong' />
	</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='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='c53a3f65-4b89-444b-8b30-9ef121914b77' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' category2='' category3='' bIs2dOnly='0' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' 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 >
				<property name='Period Overflow' target='PWM1::period' typeid='21' hidden='0' locked='0' info='Allows the user to change the number of counts for the whole PWM period.
Note that all PWM channels based on the same timer will share the same period overflow.
PIC/AVR Range: 0 - 255
16-bit PIC Range: 0 - 65535' />
				<property name='PWM Timer' target='PWM1::timer' typeid='16' hidden='0' locked='0' info='Timer associated with PWM to drive the output. 
Warning - All PWM channels linked to the same timer will share the same period and prescaler settings.' filter='002Timer2
' />
				<property name='TX' target='v5__rs2320::TX' typeid='5' hidden='0' locked='1' info='UART Transmit Pin' />
				<property name='angle_start' target='Current::angle_start' typeid='15' hidden='0' locked='0' info='Angle the control points to at its lowest setting.  Measured counter-clockwise from the positive x-axis.' />
				<property name='period_calc' target='PWM1::period_calc' typeid='15' hidden='0' locked='1' info='Displays the length of time to complete one PWM cycle.' />
				<property name='pwm_pin' target='Current_trip::pwm_pin' typeid='5' hidden='0' locked='1' info='Specifies the pin assigned to the PWM channel selected' />
				<property name='actime' target='Temperature::actime' typeid='14' hidden='0' locked='0' info='Number of micro seconds to wait for the ACD input to charge before starting the analogue sample.' />
				<property name='vrefvol' target='Temperature::vrefvol' typeid='14' hidden='0' locked='0' info='Used by the GetVoltage or GetString component macros to take an ADC reading and convert it into a Voltage.
+VRef voltage x 10mV
Default 500 = 5.0V ' />
			</properties>
			<values >
				<value target='PWM1::period' data='128' />
				<value target='PWM1::timer' data='002' />
				<value target='v5__rs2320::TX' data='$PORTC.6' />
				<value target='Current::angle_start' data='225.000000' />
				<value target='PWM1::period_calc' data='258.000000' />
				<value target='Current_trip::pwm_pin' data='$PORTB.3' />
				<value target='Temperature::actime' data='10' />
				<value target='Temperature::vrefvol' data='500' />
			</values>
			<events />
			<apis />
			<variables >
				<variable public='1' >
					<def class_type='variable' name='Current_read' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='decimals' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='5' setinit='5' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='cw' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_Instant' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Integrate_Clock' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='float_value' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='60000' setinit='60000' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Change_bit' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Hi' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Junk' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Result_float' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_peak' type='u16' description='SHort term shut down value over 10 amps' isconst='0' isHidden='0' isinit='1' usrinit='3678' setinit='3678' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Error_Average' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='enc2' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Power_up_Checksum' type='u8' description='Placeholder for powerup check from eprom address13' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Foreward_Reverse_Store' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='LSB' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='100' setinit='100' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Velocity_Gain' type='f32' description='was .14' isconst='0' isHidden='0' isinit='1' usrinit='0.5' setinit='.5' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='test_direction' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Integrate' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' >
						<array size='10' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_RMS' type='u32' description='Value over period' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Amps' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Profile' type='u16' description='Generated Motion Accel' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Stop' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_trip_var' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='600' setinit='600' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ramp_Float' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Motor_Temp_count' type='u8' description='Display integration time' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='x16777216' type='u8' description='4th byte for eprom seconds' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Cool_Down_count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='X256' type='u8' description='second byte for eprom seconds' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Cal_200' type='s16' description='Used in multiple place for cal' isconst='1' isHidden='0' isinit='1' usrinit='301' setinit='301' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_limit_low' type='u32' description='' isconst='0' isHidden='0' isinit='1' usrinit='1639' setinit='1639' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Beep_count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_Beep_count' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Display_Count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='e4' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Accel_Rate_Adder' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='3' setinit='3' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Velocity_Float' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.100000001490116119384765625' setinit='0.1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Temp_limit' type='u16' description='1200 = 99c' isconst='0' isHidden='0' isinit='1' usrinit='1200' setinit='1200' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Var5' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='e3' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Revision' type='T8' description='' isconst='0' isHidden='0' isinit='1' usrinit='&quot;P3.2&quot;' setinit='&quot;P3.2&quot;' >
						<array size='20' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Temp_Float1' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Swing' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='e2' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Error_float' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Temp_float' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ramp_store' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='DC_Volts' type='u16' description='Reading volts drop to assure shutdown and saves' isconst='0' isHidden='0' isinit='1' usrinit='4096' setinit='4096' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='e1' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Set_Curser' type='s16' description='Place Curser position' isconst='1' isHidden='0' isinit='1' usrinit='69' setinit='0x45' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Ramp' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='var2' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='toggle' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Junk2' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='display_position' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clear_Places' type='u8' description='Number of places to clear' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Test_Count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='5' setinit='5' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_gain' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.5' setinit='.5' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Integrate_count' type='u8' description='To gain error average over time' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_beep_Average' type='u32' description='Average for beep determination' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Temp' type='u32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_peak_count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Display_Value' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Program_button' type='b1' description='Encoder press' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='State' type='u8' description='I/O states' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Encoder_counter' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='program_button_count' type='u32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Beep_enable' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clear_position' type='u8' description='Beginning position to clear' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='MSB' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Pgain' type='f32' description='was2' isconst='0' isHidden='0' isinit='1' usrinit='0.4000000059604644775390625' setinit='.4' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_Accumulator' type='u32' description='For average calcs' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='OK_to_beep' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='temp_store' type='s16' description='Universal store' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Temp_float_F' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Heart_beat' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='current_Var_store' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Interrupt_count' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Interrupt_Count2' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='First_Time_PU' type='u8' description='Obvious' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='vmax_gain' type='f32' description='was1.70' isconst='0' isHidden='0' isinit='1' usrinit='1.25' setinit='1.25' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Forward_Reverse' type='b1' description='Motor reverse switch' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Seconds_count_Ulong' type='u32' description='Run time record' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='fr' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='error' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Profile_Float' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PWM' type='u8' description='Raw PWM Number' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PU_Units' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PWM_Clock' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Command_Speed' type='u16' description='RPM Values' isconst='0' isHidden='0' isinit='1' usrinit='100' setinit='100' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Mult' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Count2' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='RMS_Count' type='u16' description='Current read count' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clock_int' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Beep_delay' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='10' setinit='10' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='temp_byte' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Velocity' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Step_inc' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clock_int3' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='EMF_TEMP' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.00' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Toggle2' type='b1' description='To limit dispaly writing in proportional' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='display_string' type='T8' description='' isconst='0' isHidden='0' isinit='0' usrinit='&quot;&quot;' setinit='' >
						<array size='20' />
					</def>
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Prefix' type='s16' description='Serial Prefix' isconst='1' isHidden='0' isinit='1' usrinit='254' setinit='0xFE' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='temp_count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_var' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.000' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Clock_int2' type='u32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Integrate_result' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='x65536' type='u8' description='3rd byte for eprom seconds' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='vmax_store' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='1.64999997615814208984375' setinit='1.65//1.25' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='X1' type='u8' description='UNits for eprom seconds' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='VMAX' type='u16' description='Motor Max Speed/Emprical Check' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0//200' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Mult_Units' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_read_off' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='FR_Count' type='u8' description='Debounce Forward Reverse Switch' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Int_int' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Motor_temp' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Beep_Is_on' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Time_count' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='500' setinit='500' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Foot_pedal_store' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_limit_high' type='u32' description='Heat tested on Flyback at 152f' isconst='0' isHidden='0' isinit='1' usrinit='2458' setinit='2458 //3072' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Current_limit' type='s16' description='milliamps x 2 populated by Current_limit_low and -hi' isconst='0' isHidden='0' isinit='1' usrinit='50' setinit='50' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='PWM_Clock2' type='u8' description='Counter' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Motor_temp_calibrate' type='f32' description='' isconst='0' isHidden='0' isinit='1' usrinit='0.0' setinit='0.0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Foot_Pedal' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='clear_screen' type='s16' description='Clears Screen' isconst='1' isHidden='0' isinit='1' usrinit='81' setinit='0x51' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='Hi_Lo_current' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='Setup High or low curent limit - DISPLAY ONLY' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_limit = Current_limit_high' />
								</command>
								<command class_type='calculation' title='Display high or low torue setting' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;Torque is High&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_limit = Current_limit_low' />
								</command>
								<command class_type='calculation' title='Display high or low torue setting' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;Torque is Low &quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Write_Display_Value' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='Value' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='comment' title='' comment='Useage - Arguments passed:
display_position dictates data placement area
[float_value] dictates written floating point number string text
[Value] is an integer that will be used if non zero
Decimals = 0  dictates integer [Value]
Decimals = 5 dictates 5 places including point.' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Display Command Mode' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='0xFE' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Ready to Set Cursor' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='0x45' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Curser Position place' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='display_position' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='decimals = 5' />
							<exp exp='display_string = ToString$ (Display_value)' />
							<exp exp='display_string = left$ (display_string,5)' />
						</command>
						<command class_type='call' title='Send display string' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendString' >
							<argument exp='display_string' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Clear the right side of the value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendString' >
							<argument exp='&quot;  &quot;' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Power_Down' description='Convert Seconds Meter to hours and stuff into eproms 
Address 15, 16, 17, 18 eproms' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='First get eeprom values' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='x1' />
							<argument exp='15' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='X256' />
							<argument exp='16' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='x65536' />
							<argument exp='17' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='x16777216' />
							<argument exp='18' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Seconds_count_Ulong = Seconds_count_Ulong + x1 + (x256 * 255) + (x65536 * 65535) + (x16777216 * 16777215)' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='e1 = Seconds_count_Ulong' />
							<exp exp='e2 = Seconds_count_Ulong &gt;&gt; 8' />
							<exp exp='e3 = Seconds_count_Ulong &gt;&gt; 16' />
							<exp exp='e4 = Seconds_count_Ulong &gt;&gt; 24' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='15' />
							<argument exp='e1' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='16' />
							<argument exp='e2' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='17' />
							<argument exp='e3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='18' />
							<argument exp='e4' />
						</command>
						<command class_type='loop' title='Stay Here' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='2' exp='100' >
							<flowline >
								<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
									<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
										<option value='1' />
										<option value='0' />
										<option value='8' />
										<option value='-1' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
									</settings>
								</command>
								<command class_type='output' title='Turn off SCR' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='2' exp='0' usechipref='1' />
								<command class_type='output' title='Enable Cathode' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
								<command class_type='call' title='Dump residual energy into motor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
									<argument exp='4095' />
								</command>
								<command class_type='output' title='Beep' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='10' type='1' />
								<command class_type='output' title='Beep' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='0' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='10' type='1' />
							</flowline>
						</command>
						<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
							<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='1' />
								<option value='0' />
								<option value='8' />
								<option value='-1' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Change_Baud' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Prefix Command' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='0xFE' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Change rate to 115.2K command' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='0x61' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='3' type='1' />
						<command class_type='call' title='Change rate to 19.2k' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='7' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='3' type='1' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Profile' description='Generate a profile from zero to vmax for reference.
Profile is returned with new value for each itteration
Error is developed with profile - velocity
Vmax is pre loaded with velocity counts referenced to speed feedback' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='327 counts per AMP' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Current' macro='GetInt' >
							<return exp='Current_read' />
						</command>
						<command class_type='calculation' title='2.5 volts or 1474 = zero so' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_read = Current_read - 1474 //2048' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='Start at a non zero' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Profile_Float &lt; 25' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Profile_Float = 25' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Roll down to meet new lower speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Profile_Float &gt; vmax OR Current_read &gt; Current_limit' swap='0' >
							<flowline >
								<command class_type='calculation' title='Slow down to new lower speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='profile_float = profile_float - step_inc' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Roll up to new faster speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='profile_float = profile_float + (step_inc + Accel_Rate_Adder)' />
									<exp exp='' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='Calibration purpose' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_read_off = 0' swap='0' >
							<flowline >
								<command class_type='decision' title='Roll down to meet new lower speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Profile_Float &gt; vmax' swap='0' >
									<flowline >
										<command class_type='calculation' title='Slow down to new lower speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='profile_float = profile_float - step_inc' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Roll up to new faster speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='profile_float = profile_float + (step_inc + Accel_Rate_Adder)' />
											<exp exp='' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_read &gt; Current_limit' swap='0' >
									<flowline >
										<command class_type='calculation' title='Slow down to new lower speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='profile_float = profile_float - (step_inc * 4)' />
											<exp exp='' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='18 equates to 3 amps locked rotor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='profile_float &lt; 12' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='profile_float = 12' />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Display_Torques' description='Used at powerup time to display torque settings' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Display Low Value %' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;low Value&quot;' />
							<exp exp='display_position = 0x40' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Display_Value' />
							<argument exp='8' />
						</command>
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x4a' />
							<exp exp='float_value = 100 / (4096 / int2float (Current_limit_low))' />
							<exp exp='display_value = float2int (float_value)' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x4a' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Display  Value %' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;High Value&quot;' />
							<exp exp='display_position = 0x14' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Display_Value' />
							<argument exp='9' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x1f' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Splash_Screen' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = Revision' />
							<exp exp='display_position = 0x0f' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_String = &quot;MYTANA&quot;' />
							<exp exp='display_position = 0x06' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='comment' title='' comment='****************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;Model 745&quot;' />
							<exp exp='display_position = 0x59' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='comment' title='' comment='****************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;800 328 8170&quot;' />
							<exp exp='display_position = 0x43' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='comment' title='' comment='****************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='3' type='2' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_String = &quot;MYTANA&quot;' />
							<exp exp='display_position = 0x06' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Cool_Down_count' />
							<argument exp='10' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_position = 0x54' />
							<exp exp='display_string = &quot;CDC&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Write the number of stored CDC&apos;s' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x58' />
							<exp exp='display_value = Cool_Down_count' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_position = 0x5c' />
							<exp exp='display_string = &quot;Hour&quot;' />
						</command>
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x61' />
							<exp exp='display_value = Seconds_count_Ulong' />
						</command>
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Running_display' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_limit = Current_limit_high' swap='0' >
							<flowline >
								<command class_type='calculation' title='Display high or low torue setting' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;Torque is High&quot;' />
									<exp exp='toggle2 = 1' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
							<flowline >
								<command class_type='calculation' title='Display high or low torue setting' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;Torque is Low &quot;' />
									<exp exp='toggle2 = 0' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_String = &quot;MYTANA&quot;' />
							<exp exp='display_position = 0x06' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Display Run Mode AND RPM Value (space)' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_String = &quot;Running      RPM&quot;' />
							<exp exp='display_position = 0x54' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='lsb' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='MSB' />
							<argument exp='4' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='command_speed = msb + LSB' />
							<exp exp='Display_Value = Command_Speed' />
							<exp exp='Display_position = 0x5c' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='call' title='Eprom units for powerup cycles' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='PU_units' />
							<argument exp='100' />
						</command>
						<command class_type='call' title='Eprom multiplier for powerup cycles' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='mult_Units' />
							<argument exp='101' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x40' />
							<exp exp='display_string = &quot;PU&quot;' />
							<exp exp='' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x43' />
							<exp exp='' />
						</command>
						<command class_type='calculation' title='Add number of 255&apos;s' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_Value = pu_units + (mult_Units * 255)' />
						</command>
						<command class_type='call' title='Write Powerup Values' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='comment' title='' comment='****************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Torque_limits' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='Enable' />
						<command class_type='call' title='Reset Encoder Counter' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ResetCounter' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='calculation' title='Display Low Value %' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;low Value&quot;' />
							<exp exp='display_position = 0x00' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x0a' />
							<exp exp='float_value = 100 / (4096 / int2float (Current_limit_low))' />
							<exp exp='display_value = float2int (float_value)' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='call' title='Get percentage into encoder register' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
							<argument exp='Display_Value*4' />
						</command>
						<command class_type='loop' title='Wait for release' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='program_button = 0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Change_bit = 1' swap='0' >
									<flowline >
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ReadCounter' >
											<return exp='Display_Value' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_Value = display_value / 4' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Limit Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='display_value &gt; 100' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_value = 100' />
										</command>
										<command class_type='call' title='Sync encoder register' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
											<argument exp='400' />
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='Limit Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='display_value &lt; 0' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_value = 0' />
												</command>
												<command class_type='call' title='Sync encoder register' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
													<argument exp='0' />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
							</flowline>
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='200' type='1' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='call' title='Low value to eprom' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='8' />
							<argument exp='Display_Value' />
						</command>
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Display  Value %' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;High Value&quot;' />
							<exp exp='display_position = 0x14' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x20' />
							<exp exp='float_value = 100 / (4096 / int2float (Current_limit_high))' />
							<exp exp='display_value = float2int (float_value)' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='call' title='Get percentage into encoder register' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
							<argument exp='Display_Value*4' />
						</command>
						<command class_type='loop' title='Wait for release' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='program_button = 0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Change_bit = 1' swap='0' >
									<flowline >
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ReadCounter' >
											<return exp='Display_Value' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_Value = display_value / 4' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Limit Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='display_value &gt; 100' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_value = 100' />
										</command>
										<command class_type='call' title='Sync encoder register' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
											<argument exp='400' />
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='Limit Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='display_value &lt; 0' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_value = 0' />
												</command>
												<command class_type='call' title='Sync encoder register' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
													<argument exp='0' />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
							</flowline>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='200' type='1' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='call' title='Program Eprom' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='9' />
							<argument exp='Display_Value' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Encoder_test' description='Get eprom saved speed and encoder count
Leave this routine with Command_speed pupulated with actual RPM value. Display the values in increments of 25 RPM starting at 100 RPM Save the new data to eprom location 3 (command speed  and 5 (encoder count)' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Read Saved Encoder Counter Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Encoder_counter' />
							<argument exp='5' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Encoder_counter = Encoder_counter &lt;&lt; 2' />
							<exp exp='Command_Speed = 125' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
							<argument exp='Encoder_counter' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0' start='0' >
							<flowline />
						</command>
						<command class_type='comment' title='' comment='Reinstate Command Speed Value' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='LSB' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='MSB' />
							<argument exp='4' />
						</command>
						<command class_type='calculation' title='Reinstate Command Speed from Eprom location 3 and 4' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Command_Speed = LSB + MSB' />
							<exp exp='' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' >
							<flowline >
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='3' type='1' />
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='change_bit' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ReadCounter' >
									<return exp='Encoder_counter' />
								</command>
								<command class_type='calculation' title='Encoder number display' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x54' />
									<exp exp='Encoder_counter = Encoder_counter &gt;&gt; 2' />
									<exp exp='Display_Value = Encoder_counter' />
								</command>
								<command class_type='decision' title='Going up' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Encoder_counter = 0' swap='0' >
									<flowline >
										<command class_type='call' title='4x Multiplier' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
											<argument exp='4' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Encoder_counter = 1' />
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Encoder_counter &gt; 9' swap='0' >
											<flowline >
												<command class_type='call' title='Max value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
													<argument exp='36' />
												</command>
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Encoder_counter = 9' />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
								</command>
								<command class_type='switch' title='' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Encoder_counter' >
									<case >
										<flowline />
									</case>
									<case exp='1' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 100' />
												<exp exp='Encoder_counter = 1' />
											</command>
										</flowline>
									</case>
									<case exp='2' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 125' />
												<exp exp='Encoder_counter = 2' />
											</command>
										</flowline>
									</case>
									<case exp='3' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 150' />
												<exp exp='Encoder_counter = 3' />
											</command>
										</flowline>
									</case>
									<case exp='4' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 175' />
											</command>
										</flowline>
									</case>
									<case exp='5' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 200' />
												<exp exp='' />
											</command>
										</flowline>
									</case>
									<case exp='6' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 225' />
											</command>
										</flowline>
									</case>
									<case exp='7' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 250' />
											</command>
										</flowline>
									</case>
									<case exp='8' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 275' />
											</command>
										</flowline>
									</case>
									<case exp='9' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Command_Speed = 300' />
											</command>
										</flowline>
									</case>
								</command>
								<command class_type='calculation' title='New Speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_Value = Command_Speed' />
									<exp exp='display_position = 0x1e' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
							</flowline>
						</command>
						<command class_type='switch' title='Larger than 8 bits - Store anything over 250 to eprom 4 address' textarea='226,-108,226,-108' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='command_speed' >
							<case >
								<flowline >
									<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
										<argument exp='3' />
										<argument exp='Command_Speed' />
									</command>
									<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
										<argument exp='4' />
										<argument exp='0' />
									</command>
								</flowline>
							</case>
							<case exp='275' >
								<flowline >
									<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
										<argument exp='3' />
										<argument exp='250' />
									</command>
									<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
										<argument exp='4' />
										<argument exp='25' />
									</command>
								</flowline>
							</case>
							<case exp='300' >
								<flowline >
									<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
										<argument exp='3' />
										<argument exp='250' />
									</command>
									<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
										<argument exp='4' />
										<argument exp='50' />
									</command>
								</flowline>
							</case>
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='5' />
							<argument exp='Encoder_counter' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='PU_Counter' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='First time PU location' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='First_Time_PU' />
							<argument exp='13' />
						</command>
						<command class_type='decision' title='Make it so if not 99' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='First_Time_PU = 99' swap='0' >
							<flowline >
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
									<return exp='PU_Units' />
									<argument exp='100' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='PU_units = 255' swap='0' >
									<flowline >
										<command class_type='call' title='Set units back to zero' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
											<argument exp='100' />
											<argument exp='0' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='PU_units = 1' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
											<return exp='Mult_Units' />
											<argument exp='101' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='mult_units = Mult_Units + 1' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
											<argument exp='101' />
											<argument exp='Mult_Units' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Increment units' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='pu_units = PU_units + 1' />
											<exp exp='' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
											<argument exp='100' />
											<argument exp='pu_units' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='13' />
									<argument exp='99' />
								</command>
								<command class_type='call' title='pu_units' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='100' />
									<argument exp='0' />
								</command>
								<command class_type='call' title='255 Mult' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='101' />
									<argument exp='0' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Accel_Rate_Adder' description='Simply adds number to step_inc just for accel' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='PB_Count' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
							<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='1' />
								<option value='0' />
								<option value='8' />
								<option value='-1' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x00' />
							<exp exp='display_string = &quot;Accel Rate&quot;' />
							<exp exp='' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='.PB_Count = 1' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='1' exp='Program_button = 0' start='0' >
							<flowline >
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
								<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='.PB_Count' >
									<case >
										<flowline />
									</case>
									<case exp='1' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Accel_Rate_Adder = 1' />
											</command>
										</flowline>
									</case>
									<case exp='2' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Accel_Rate_Adder = 2' />
											</command>
										</flowline>
									</case>
									<case exp='3' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Accel_Rate_Adder = 3' />
											</command>
										</flowline>
									</case>
									<case exp='4' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Accel_Rate_Adder = 4' />
											</command>
										</flowline>
									</case>
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_value = Accel_Rate_Adder' />
									<exp exp='display_position = 0x0b' />
									<exp exp='.PB_Count = .PB_Count + 1' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='.pb_count &gt; 4' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='.pb_count = 1' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='19' />
							<argument exp='Accel_Rate_Adder' />
						</command>
						<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
							<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='1' />
								<option value='0' />
								<option value='8' />
								<option value='-1' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Get_IO' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='PD_Count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='DC_Voltage' macro='GetInt' >
							<return exp='DC_Volts' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='Eprom Storage of run time' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='DC_Volts &lt; 1200' swap='0' >
							<flowline >
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
								<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.pd_count = .pd_count + 1' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='.pd_count = 0 //&gt; 100' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='.pd_count = 0' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Power_Down' />
									</flowline>
									<flowline />
								</command>
								<command class_type='output' title='Output' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='0' usechipref='1' />
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='.pd_count = 0' />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Foot_Pedal = 0' swap='0' >
							<flowline >
								<command class_type='calculation' title='C0unt2 = count2+1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Count2 = count2 + 1' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='count2 = 30' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='count2 = 0' />
										</command>
										<command class_type='calculation' title='30 clicks/second then store' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Seconds_count_Ulong = Seconds_count_Ulong + 1' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='State = 9' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='calculation' title='10 clicks per second' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Clock_int = Clock_int + 1' />
							<exp exp='Clock_int2 = Clock_int2 + 1' />
							<exp exp='clock_int3 = clock_int3 + 1' />
							<exp exp='Integrate_Clock = Integrate_Clock + 1' />
							<exp exp='int_int = Int_int + 1' />
						</command>
						<command class_type='input' title='Get program button status' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
						<command class_type='input' title='Get foot switch status' cmdcolor='16711935' cmdcolor_sec='3610239' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='0' cmdcustom_color='1' mode='1' port='1048577' mask='128' exp='Foot_pedal_store' usechipref='1' />
						<command class_type='switch' title='Debounce foot pedal' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Foot_Pedal_store' >
							<case >
								<flowline />
							</case>
							<case exp='1' >
								<flowline >
									<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
										<exp exp='Interrupt_count = Interrupt_count + 1' />
									</command>
									<command class_type='decision' title='13 count to stay away from pulse syncronized capture' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Interrupt_count &gt; 13' swap='0' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Foot_pedal = 1' />
												<exp exp='Interrupt_count = 0' />
											</command>
										</flowline>
										<flowline />
									</command>
								</flowline>
							</case>
							<case exp='0' >
								<flowline >
									<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
										<exp exp='Interrupt_count = Interrupt_count + 1' />
									</command>
									<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Interrupt_count &gt; 10' swap='0' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Foot_pedal = 0' />
												<exp exp='Interrupt_count = 0' />
											</command>
										</flowline>
										<flowline />
									</command>
								</flowline>
							</case>
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='switch' title='Debounce fwd rev switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Foreward_Reverse_Store' >
							<case >
								<flowline />
							</case>
							<case exp='1' >
								<flowline >
									<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
										<exp exp='Interrupt_count2 = Interrupt_count2 + 1' />
									</command>
									<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Interrupt_count2 &gt; 10' swap='0' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Forward_Reverse = 1' />
												<exp exp='Interrupt_count2 = 0' />
											</command>
										</flowline>
										<flowline />
									</command>
								</flowline>
							</case>
							<case exp='0' >
								<flowline >
									<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
										<exp exp='Interrupt_count2 = Interrupt_count2 + 1' />
									</command>
									<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Interrupt_count2 &gt; 10' swap='0' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Forward_Reverse = 0' />
												<exp exp='Interrupt_count = 0' />
											</command>
										</flowline>
										<flowline />
									</command>
								</flowline>
							</case>
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='Reset at 2 seconds' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='int_int &gt; 10' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='int_int = 0' />
								</command>
								<command class_type='decision' title='Foot switch  State' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Foot_Pedal = 0' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='State = 1' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Program Button State' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='State = 2' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='calculation' title='Determine average' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Integrate[integrate_count] = Error_Average' />
							<exp exp='Swing = integrate[0] + integrate[1] + integrate[2] + integrate[3] + integrate[4] + integrate[5] + integrate[6] + integrate[7] + integrate[8] + integrate[9] + integrate[9]' />
							<exp exp='' />
							<exp exp='Swing = Swing / 10' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Integrate_count = 2' swap='0' >
							<flowline >
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Swing &gt; integrate_Result' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Integrate_Result = Integrate_Result + 1' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Swing &lt; Integrate_Result' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Integrate_Result = Integrate_Result - 1' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Integrate_count = 0' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='INcrement counter' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Integrate_count = Integrate_count + 1' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='comment' title='' comment='Get current RMS Values' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Get current' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Current' macro='GetInt' >
							<return exp='Current_Instant' />
						</command>
						<command class_type='calculation' title='Replacement  opamp' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_Instant = (Current_Instant - 1474) * 2' />
						</command>
						<command class_type='calculation' title='Add next read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_Accumulator = Current_accumulator + Current_Instant' />
							<exp exp='RMS_Count = RMS_count + 1' />
							<exp exp='Current_Beep_count = Current_Beep_count + 1' />
							<exp exp='Current_beep_Average = Current_beep_Average + Current_Instant' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Beep_Is_on = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='beep_count = beep_count + 1' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='beep_count &gt; 5' swap='0' >
									<flowline >
										<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='0' usechipref='1' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='beep_count = 0' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_Beep_count &gt; 30' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_beep_Average = Current_beep_Average / 30' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_beep_Average &gt; Current_limit_high' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='OK_to_beep = 1' />
												</command>
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='OK_to_beep = 0' />
												</command>
											</flowline>
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_beep_Average &gt; Current_limit_low' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='OK_to_beep = 1' />
												</command>
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='OK_to_beep = 0' />
												</command>
											</flowline>
										</command>
									</flowline>
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_Beep_count = 0' />
									<exp exp='//Current_beep_Average = Current_Instant' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='1 minute passed? Too much current?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='RMS_Count &gt; 1831' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='RMS_Count = 0' />
									<exp exp='Current_RMS = Current_Accumulator / 1831' />
									<exp exp='Current_Accumulator = 0' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_limit = Current_limit_high' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_limit = Current_limit_low' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Read_Velocity' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='PWM_stop is active?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='PWM_Clock &gt; 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='PWM_Clock = 0' />
								</command>
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Disable' />
								<command class_type='output' title='Disable PWM Drive Bit' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
								<command class_type='delay' title='EMF to settle. Creates small click at zero velocity high torque' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='60' type='0' />
								<command class_type='output' title='Enable Read' ccode='// Enable Read
// Output: 0 -&gt; C0
FCP_SET(B, C, 0x01, 0, (0));' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='comment' title='' comment='Assure Large Numbers are elliminated' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='call' title='Get KE value from Motor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
									<return exp='Velocity_Float' />
								</command>
								<command class_type='comment' title='' comment='Assure Large Numbers are elliminated' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='calculation' title='Normalize speed numbers' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Velocity_Float = Velocity_Float * Velocity_Gain' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='ramp_store = Ramp' />
									<exp exp='//Ramp = 0' />
								</command>
								<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
							</flowline>
							<flowline >
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='PWM_Clock = PWM_Clock + 1' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Calibrate_Motor_Vmax' description='Sets motor feedback number for 150 RPM by adjusting vmax gain. Also, gets ambient temperature stored so that vmax can be slightly adjusted for winding temperature changes' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Get vmax gain eprom location 11' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='temp_byte' />
							<argument exp='11' />
						</command>
						<command class_type='call' title='Read Analog current motor temperature float' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Motor_Temp_Comp' macro='GetInt' >
							<return exp='Motor_temp_calibrate' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Motor_temp_calibrate = Motor_temp_calibrate / 6' />
						</command>
						<command class_type='call' title='Write motor temp to eprom location 12' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='12' />
							<argument exp='Motor_temp_calibrate' />
						</command>
						<command class_type='calculation' title='Convert motor temperature to degrees c' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Motor_temp_calibrate = (Motor_temp_calibrate - 65) * .72 //gets degrees c.' />
						</command>
						<command class_type='decision' title='If not already set then fix at 150 RPM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='temp_byte &gt; 240' swap='0' >
							<flowline />
							<flowline >
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
									<return exp='vmax_gain' />
									<argument exp='11' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='vmax_gain = vmax_gain / 100' />
									<exp exp='Ramp = 0' />
								</command>
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='vmax = Cal_200' />
							<exp exp='//200 RPM' />
							<exp exp='Ramp = 0' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='vmax = vmax * vmax_gain' />
							<exp exp='vmax = (vmax * 33) / 100' />
							<exp exp='//vmax = (vmax * 66) / 100' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x00' />
							<exp exp='display_string = &quot;TAC = 200 RPM&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0' >
							<flowline >
								<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='display_string = &quot;adjust for 150 RPM&quot;' />
								</command>
								<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='Enable' />
						<command class_type='call' title='Call Component Macro' ccode='// Call Component Macro
// Call Component Macro: QuadEncoder1::ResetCounter()
FCD_017b1_QuadEncoder1__ResetCounter();
' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ResetCounter' />
						<command class_type='calculation' title='Turn current formulas off' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_read_off = 0' />
						</command>
						<command class_type='loop' title='Wait for pedal' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Foot_Pedal = 1' >
							<flowline >
								<command class_type='input' title='Get foot switch status' cmdcolor='16711935' cmdcolor_sec='3610239' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='0' cmdcustom_color='1' mode='1' port='1048577' mask='128' exp='Foot_Pedal' usechipref='1' />
							</flowline>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' >
							<flowline >
								<command class_type='call' title='Read and Display' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Read_Speed' />
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Profile' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
									<argument exp='float2int(Profile_Float)' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ReadCounter' >
									<return exp='Encoder_counter' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x56' />
									<exp exp='Temp_Float1 = encoder_counter / 4' />
									<exp exp='Temp_float1 = temp_float1 / 100' />
									<exp exp='vmax_gain = vmax_store + temp_float1' />
									<exp exp='float_value = vmax_gain //Write value' />
									<exp exp='' />
								</command>
								<command class_type='calculation' title='Adjustmet value for 200 RPM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='vmax = Cal_200 * vmax_gain' />
									<exp exp='float_value = vmax_gain' />
									<exp exp='var5 = var5 + 1' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='var5 &gt; 50' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='var5 = 0' />
										</command>
										<command class_type='calculation' title='Display Speed feedback in approx RPM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_position = 0x62' />
											<exp exp='float_value = velocity_float / 2' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
						<command class_type='calculation' title='Ramp to zero current formulas back on' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='ramp = 0' />
							<exp exp='Current_read_off = 1' />
						</command>
						<command class_type='call' title='Vmax gain' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='11' />
							<argument exp='vmax_gain*100' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='vmax_gain' />
							<argument exp='11' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='vmax_gain = vmax_gain / 100' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Display_hours' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='First get eeprom values' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='x1' />
							<argument exp='15' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='X256' />
							<argument exp='16' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='x65536' />
							<argument exp='17' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='x16777216' />
							<argument exp='18' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='result_float = x1 + (x256 * 255) + (x65536 * 65536) + (x16777216 * 16777215)' />
							<exp exp='display_position = 0x00' />
							<exp exp='float_value = result_float / 3600' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_position = 0x07' />
							<exp exp='display_string = &quot;Motor Hours&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Display_Torques' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='2' type='2' />
						<command class_type='call' title='Clear the Screen' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Motor_stop_Wait' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = fr' swap='0' >
							<flowline />
							<flowline >
								<command class_type='loop' title='Wait for motor to stop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='1' exp='Velocity_Float &lt; 10' start='0' >
									<flowline >
										<command class_type='output' title='Disable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
										<command class_type='delay' title='BACK EMF Decay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='1' />
										<command class_type='output' title='Enable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
											<return exp='Velocity_Float' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Fast_velocity_read' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='PWM_Clock = 0' />
						</command>
						<command class_type='output' title='Disable PWM Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='delay' title='Wait for Back EMF to settle' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='1' />
						<command class_type='output' title='Enable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
							<return exp='Velocity_Float' />
						</command>
						<command class_type='calculation' title='Normalize speed numbers' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Velocity_Float = Velocity_Float * Velocity_Gain' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='1' />
						<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
						<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Temperatures' description='Gets diode temp and motor temp outside of run time to determine
vamx cahnge for motor temp change and
Cool down period if diode is too hot' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Read Analog  at motor temperature zero to 1444' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Motor_Temp_Comp' macro='GetInt' >
							<return exp='Motor_temp' />
						</command>
						<command class_type='calculation' title='Scale to degrees' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Motor_Temp_count = 0' />
							<exp exp='' />
							<exp exp='Motor_temp = Motor_temp / 6' />
							<exp exp='Motor_temp = (motor_temp - 65) * .72 //gets degrees c.' />
						</command>
						<command class_type='comment' title='' comment='Motor temp is compared to Calibrated 
temp and summed with the vmax to adjust
for temperature rise.
See proportional' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='1' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Temperature' macro='GetAverageInt' >
							<return exp='EMF_TEMP' />
							<argument exp='20' />
							<argument exp='4' />
						</command>
						<command class_type='calculation' title='Scale to degrees' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Motor_Temp_count = 0' />
							<exp exp='' />
							<exp exp='EMF_TEMP = EMF_TEMP / 6' />
							<exp exp='EMF_TEMP = (EMF_TEMP - 65) * .72 //gets degrees c.' />
						</command>
						<command class_type='decision' title='Diode Temp Check 1200 = 1.5v or 100C' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='EMF_TEMP &gt; temp_limit' swap='0' >
							<flowline >
								<command class_type='decision' title='Check multiple times' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='temp_count &gt; 500' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
										<command class_type='call' title='Call Component Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Temperature' macro='GetInt' >
											<return exp='EMF_TEMP' />
										</command>
										<command class_type='calculation' title='Display Variables for test' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x4e' />
											<exp exp='display_value = EMF_TEMP' />
										</command>
										<command class_type='calculation' title='Display Variables for test' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x0e' />
											<exp exp='display_value = EMF_TEMP' />
											<exp exp='temp_count = 0' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
											<return exp='Cool_Down_count' />
											<argument exp='10' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Cool_Down_count = Cool_Down_count + 1' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
											<argument exp='10' />
											<argument exp='Cool_Down_count' />
										</command>
										<command class_type='output' title='Disable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_position = 0x54' />
											<exp exp='display_string = &quot;Cool Down Period&quot;' />
											<exp exp='profile = 0' />
											<exp exp='temp_count = 0' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
										<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='EMF_TEMP &gt; temp_limit' start='0' >
											<flowline >
												<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Temperature' macro='GetInt' >
													<return exp='EMF_TEMP' />
												</command>
												<command class_type='calculation' title='Scale to degrees' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='EMF_TEMP = EMF_TEMP / 6' />
													<exp exp='EMF_TEMP = (EMF_TEMP - 65) * .72 //gets degrees c.' />
												</command>
											</flowline>
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Temp_count = 15' />
										</command>
										<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='temp_count &gt; 0' start='0' >
											<flowline >
												<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Display_position = 0x00' />
													<exp exp='Display_Value = temp_count' />
													<exp exp='' />
												</command>
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='temp_count = temp_count - 1' />
													<exp exp='Beep_delay = 10' />
												</command>
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
											</flowline>
										</command>
										<command class_type='call' title='Clear Screen' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Splash_Screen' />
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='temp_count = temp_count + 1' />
										</command>
									</flowline>
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='temp_count = 0' />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Write_display_float' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='Useage - Arguments passed:
display_position dictates data placement area
[float_value] dictates written floating point number string text


Decimals = 3 dictates 3 places including point ie - 0.0 is 3 places' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Display Command Mode' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='0xFE' />
						</command>
						<command class_type='call' title='Ready to Set Cursor' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='0x45' />
						</command>
						<command class_type='delay' title='Delay' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Curser Position place' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='display_position' />
						</command>
						<command class_type='delay' title='Delay' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = FloatToString$ (float_value)' />
							<exp exp='display_string = left$ (display_string,decimals)' />
						</command>
						<command class_type='call' title='Send display string' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendString' >
							<argument exp='display_string' />
						</command>
						<command class_type='delay' title='Delay' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Clear the right side of the value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='&quot;  &quot;' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='BEEP_ENABLE' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_position = 00' />
							<exp exp='display_string = &quot;beep enable?&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0' swap='0' >
							<flowline >
								<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0' >
									<flowline />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='toggle = toggle XOR (1)' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='toggle = 1' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_position = 14' />
											<exp exp='display_string = &quot;yes&quot;' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_position = 14' />
											<exp exp='display_string = &quot;no &quot;' />
										</command>
									</flowline>
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
							</flowline>
						</command>
						<command class_type='call' title='Write enable value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='14' />
							<argument exp='toggle' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Factory_setup_mode' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='input' title='Get switch status' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='32' exp='Forward_Reverse' usechipref='1' />
						<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = 1' swap='0' >
							<flowline >
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='0' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='FR = 1' />
								</command>
							</flowline>
							<flowline >
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='0' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='fr = 0' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Calibrate_Motor_Vmax' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_string = &quot;Eprom Default ok&quot;' />
							<exp exp='display_position = 0x00' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='700' type='1' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='15' type='1' />
						<command class_type='output' title='Clear PWM output?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='4' exp='0' usechipref='1' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Command_Speed = 200' />
							<exp exp='test_count = 0' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Eprom_Defaults' />
						<command class_type='call' title='Sets default cool down count to zero' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Cool_Down_count' />
							<argument exp='10' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='loop' title='50 minutes' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='2' exp='1000' >
							<flowline >
								<command class_type='calculation' title='Display Run Mode AND RPM Value (space)' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_String = &quot;TESTING      RPM&quot;' />
									<exp exp='display_position = 0x54' />
									<exp exp='Command_Speed = Command_Speed * 2' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_Value = Command_Speed / 2' />
									<exp exp='Display_position = 0x5c' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='mult = 0' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_Value = PU_units' />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Display_Value = pu_units * mult_Units' />
										</command>
									</flowline>
								</command>
								<command class_type='comment' title='' comment='****************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='pwm = 0' />
									<exp exp='ramp = 0' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
									<argument exp='0' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Disable' />
								<command class_type='loop' title='Wait for motor to stop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='var2 &gt; 2' start='0' >
									<flowline >
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Temperature' macro='GetInt' >
											<return exp='Temp_float' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='temp_float = (temp_float - 409.6) / 8.7 //centigrade' />
											<exp exp='temp_float_f = (temp_float * 1.8) + 32' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='temp &gt; temp_limit' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_position = 0x14' />
													<exp exp='display_string = &quot;temp HI&quot;' />
												</command>
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_position = 0x14' />
													<exp exp='display_string = &quot;temp      c &quot;' />
												</command>
											</flowline>
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x1c' />
											<exp exp='Display_Value = temp_float' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x21' />
											<exp exp='Display_Value = Temp_float_F' />
											<exp exp='' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_string = &quot;f&quot;' />
											<exp exp='display_position = 0x24' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetAverageInt' >
											<return exp='var2' />
											<argument exp='100' />
											<argument exp='100' />
										</command>
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='1' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x40' />
											<exp exp='display_string = &quot;Velocity&quot;' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x49' />
											<exp exp='Display_Value = var2' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
									</flowline>
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Read_Velocity' />
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Velocity_Float &lt; 10' swap='0' >
									<flowline />
									<flowline >
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='2' />
									</flowline>
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='beep_delay = 100' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='test_direction = 1' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='750' type='1' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='test_direction = 0' />
										</command>
										<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='1' usechipref='1' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
										<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='0' usechipref='1' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='FR = 1' />
										</command>
									</flowline>
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='200' type='1' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='200' type='1' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='test_direction = 1' />
										</command>
										<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='1' usechipref='1' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
										<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='0' usechipref='1' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='FR = 0' />
										</command>
									</flowline>
								</command>
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='1' />
								<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='2' exp='2000' start='0' >
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0' swap='0' >
											<flowline >
												<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
													<argument exp='0' />
												</command>
												<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='10' type='1' />
												<command class_type='goto' title='Goto Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='2' labelname='' />
											</flowline>
											<flowline />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Read_Velocity' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x49' />
											<exp exp='Display_Value = Velocity_Float' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='10' type='1' />
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
										<command class_type='calculation' title='rAMP UP' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='ramp = Ramp + 1' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Ramp &gt; Command_Speed' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Ramp = Command_Speed' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='comment' title='' comment='Test without current manipulation' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
											<argument exp='ramp' />
										</command>
									</flowline>
								</command>
								<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='A' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='ramp = ramp - 1' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='6' type='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
									<argument exp='ramp' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='ramp &gt; 10' swap='0' >
									<flowline >
										<command class_type='goto' title='Goto Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='' />
									</flowline>
									<flowline />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Command_Speed = 200' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Disable' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='test_count = test_count + 1' />
									<exp exp='display_position = 0x0b' />
									<exp exp='Display_Value = Test_count' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='display_string = &quot;Test Count&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Command_Speed = 100' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x59' />
							<exp exp='display_string = &quot;Test Complete&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='count2 = 10' />
						</command>
						<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='1' labelname='B' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='count2 &gt; 0' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='count2 = count2 - 1' />
								</command>
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
								<command class_type='output' title='Output' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='4' exp='1' usechipref='1' />
								<command class_type='output' title='Beeper On' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='500' type='1' />
								<command class_type='output' title='Beeper On' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='500' type='1' />
								<command class_type='goto' title='Goto Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='1' labelname='' />
							</flowline>
							<flowline />
						</command>
						<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='2' labelname='C' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Read_Velocity' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Velocity_Float &lt; 10' swap='0' >
							<flowline />
							<flowline >
								<command class_type='delay' title='Wait for motor to wind down' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='2' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='BEEP' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='count = count + 1' />
						</command>
						<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='beep_delay' type='1' />
						<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='0' usechipref='1' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='count = 0' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='count &gt; 5' swap='0' >
							<flowline />
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Read_Speed' description='Used for testing only and displayin speed' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='output' title='Disable PWM Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='delay' title='EMF to settle. Creates small click at zero velocity high torque' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='3' type='1' />
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='output' title='Enable Read' ccode='// Enable Read
// Output: 0 -&gt; C0
FCP_SET(B, C, 0x01, 0, (0));' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
						<command class_type='delay' title='Wait for read to settle' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='500' type='0' />
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='call' title='Get KE value from Motor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
							<return exp='Velocity_Float' />
						</command>
						<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
						<command class_type='calculation' title='Normalize speed numbers' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Velocity_Float = Velocity_Float * Velocity_Gain' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='ramp_store = Ramp' />
							<exp exp='//Ramp = 0' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_position = 0x40' />
							<exp exp='display_string = &quot;Vel x gain&quot;' />
						</command>
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_position = 0x4b' />
							<exp exp='Display_Value = Velocity_Float * Velocity_Gain' />
						</command>
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='calculation' title='Display' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x15' />
							<exp exp='display_string = &quot;VMAX&quot;' />
						</command>
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x22' />
							<exp exp='Display_Value = VMAX' />
						</command>
						<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
					</flowline>
				</macro>
				<macro >
					<flowline name='disp_vel_error' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x21' />
							<exp exp='display_string = &quot;Er&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x23' />
							<exp exp='Display_Value = Error_Average' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x62' />
							<exp exp='display_string = &quot;Ve&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x64' />
							<exp exp='Display_Value = Velocity_Float' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x0d' />
							<exp exp='display_string = &quot;Ra&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x10' />
							<exp exp='Display_Value = Ramp' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x00' />
							<exp exp='display_string = &quot;Pr&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x02' />
							<exp exp='Display_Value = Profile_Float' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Display_State' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='Position' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<local name='Value' type='u8' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_Position = 0x4c' />
							<exp exp='display_value = state' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Clear_text' description='Variable &quot;Clear_position&quot; has the beginning place for clear. &quot;clear_places&quot; is number of places to clear.' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Prefix' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='prefix' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Set Curser command' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='Set_Curser' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Get Curser to position &quot;clear&quot;' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='Clear_position' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='1' exp='clear_places = 0' start='0' >
							<flowline >
								<command class_type='delay' title='So we can see it wipe.' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='120' type='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_string = &quot; &quot;' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendString' >
									<argument exp='display_string' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Clear_Places = Clear_Places - 1' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='2' type='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Raw_PWM' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x00' />
							<exp exp='display_string = &quot;PWM test&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
									<argument exp='250' />
								</command>
								<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='2' exp='1000' >
									<flowline >
										<command class_type='call' title='Call Component Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
											<return exp='Velocity_Float' />
										</command>
										<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x0a' />
											<exp exp='float_Value = Velocity_Float' />
										</command>
										<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
									</flowline>
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Velocity = Velocity + 50' />
								</command>
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='3' type='2' />
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='velocity &gt; 500' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='velocity = 150' />
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='DIsplay_Velocity_test' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='1' >
							<flowline >
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
									<return exp='Velocity_Float' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='Display_Value = Velocity_Float' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Torque_Level' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0' start='0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x54' />
							<exp exp='display_string = &quot;Torque Level&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Hi' />
							<argument exp='7' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Hi = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x61' />
									<exp exp='display_string = &quot;high&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x61' />
									<exp exp='display_string = &quot;Low&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x61' />
											<exp exp='display_string = &quot;high&quot;' />
											<exp exp='hi = 0' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x61' />
											<exp exp='display_string = &quot;Low &quot;' />
											<exp exp='hi = 1' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
									</flowline>
								</command>
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='700' type='1' />
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x4d' />
							<exp exp='display_string = &quot;OK&quot;' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='calculation' title='Need to reverse for correct display' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Hi = Hi XOR (1)' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='program_button = 0' start='0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
							<flowline >
								<command class_type='call' title='Eprom 1 is high' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='7' />
									<argument exp='1' />
								</command>
							</flowline>
							<flowline >
								<command class_type='call' title='Eprom 0 is low' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='7' />
									<argument exp='0' />
								</command>
							</flowline>
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Current_Beeps' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Temp_store = Current_read' />
						</command>
						<command class_type='call' title='327 counts per AMP' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Current' macro='GetInt' >
							<return exp='Current_read' />
						</command>
						<command class_type='calculation' title='Replacement  opamp' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_read = (Current_read - 1474) // * 2' />
						</command>
						<command class_type='call' title='Call Component Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Beep_enable' />
							<argument exp='14' />
						</command>
						<command class_type='decision' title='Decision' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
							<flowline >
								<command class_type='decision' title='' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='current_read &gt; (Current_limit_high) AND OK_to_beep = 1 AND Beep_enable = 1' swap='0' >
									<flowline >
										<command class_type='calculation' title='Milliseconds' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='beep_delay = 20' />
											<exp exp='OK_to_beep = 0' />
											<exp exp='Current_beep_Average = 0' />
											<exp exp='Beep_Is_on = 1' />
										</command>
										<command class_type='output' title='Beeper On' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='current_read &gt; (Current_limit_low) AND OK_to_beep = 1 AND Beep_enable = 1' swap='0' >
									<flowline >
										<command class_type='comment' title='' comment='Current at low set points are
drawin by reducer friction, so
setpoint is raised to prevent beeping' textarea='12,0,12,0' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
										<command class_type='calculation' title='Milliseconds' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='beep_delay = 20' />
											<exp exp='OK_to_beep = 0' />
											<exp exp='Current_beep_Average = 0' />
											<exp exp='Beep_Is_on = 1' />
										</command>
										<command class_type='output' title='Beeper On' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
						<command class_type='calculation' title='Reinstate current read value' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='current_read = temp_store' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='CLS' description='Clears the whole screen' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='Prefix' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='SendChar' >
							<argument exp='clear_screen' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='2' type='1' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Write_display_text' description='Usage - Display_string should already be loaded with text before call. Display position is also required' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Ready to Set Cursor' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendChar' >
							<argument exp='0xfe' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Ready to Set Cursor' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendChar' >
							<argument exp='0x45' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Curser Position place' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendChar' >
							<argument exp='display_position' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Send display string' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendString' >
							<argument exp='display_string' />
						</command>
						<command class_type='delay' title='ADDED TO PRODUCTION' textarea='36,0,511,300' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Test_Trap' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x0f' />
							<exp exp='display_string = &quot;Trap&quot;' />
							<exp exp='float_value = vmax_gain' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Display_FS_and_FR' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x13' />
							<exp exp='Display_Value = Foot_Pedal' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x10' />
							<exp exp='Display_Value = Forward_Reverse' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Proportional' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<local name='State' type='u8' description='Fault Finder' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='enc2_store' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='up' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='Count' type='u16' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<local name='Rollover' type='b1' description='Encoder rolls over or not' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
						<command class_type='calculation' title='Display Actual amps' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='display_position = 0x4d' />
							<exp exp='display_string = &quot;   &quot;' />
							<exp exp='' />
							<exp exp='' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Read Current setting high or low' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Hi' />
							<argument exp='7' />
						</command>
						<command class_type='call' title='Display hi or low torque' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Hi_Lo_current' />
						<command class_type='call' title='Setup Display for run time' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Running_display' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Beep_delay = 10' />
						</command>
						<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
							<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='1' />
								<option value='0' />
								<option value='8' />
								<option value='-1' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
						<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
							<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='1' />
								<option value='0' />
								<option value='8' />
								<option value='-1' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='input' title='Input' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='8' exp='junk2' usechipref='1' />
						<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Display Actual amps' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x4d' />
									<exp exp='display_string = &quot;&gt;&gt;&gt;&quot;' />
									<exp exp='' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='FR = 1' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Display Actual amps' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x4d' />
									<exp exp='display_string = &quot;&lt;&lt;&lt;&quot;' />
									<exp exp='' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='FR = 0' />
								</command>
							</flowline>
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='1' />
						<command class_type='output' title='Disable PWM' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
						<command class_type='output' title='Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
						<command class_type='comment' title='' comment='***********************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='output' title='Disable PWM Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='output' title='Enable Read' ccode='// Enable Read
// Output: 0 -&gt; C0
FCP_SET(B, C, 0x01, 0, (0));' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
						<command class_type='delay' title='EMF to settle. Creates small click at zero velocity high torque' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='300' type='0' />
						<command class_type='call' title='Get KE value from Motor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
							<return exp='Velocity_Float' />
						</command>
						<command class_type='comment' title='' comment='_________________________________________' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='comment' title='' comment='_________________________________________' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
						<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
						<command class_type='calculation' title='Display Run Mode' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='ramp = 0' />
							<exp exp='' />
							<exp exp='error = 0' />
							<exp exp='//profile_float = 0.0' />
							<exp exp='error_float = 0.0' />
							<exp exp='//velocity_float = 0.0' />
							<exp exp='//velocity = 0' />
							<exp exp='current_read = 0' />
							<exp exp='enc2 = 0' />
							<exp exp='Velocity_float = Velocity_Float * velocity_Gain' />
							<exp exp='profile_float = velocity_float / 3' />
						</command>
						<command class_type='call' title='Calculae and load ramp' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Loop_Formula3' />
						<command class_type='call' title='Encoder back to zero' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ResetCounter' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_limit = Current_limit_high' swap='0' >
							<flowline >
								<command class_type='calculation' title='Display high or low torue setting' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;Torque is High&quot;' />
									<exp exp='toggle2 = 1' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
							<flowline >
								<command class_type='calculation' title='Display high or low torue setting' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;Torque is Low &quot;' />
									<exp exp='toggle2 = 0' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
						<command class_type='loop' title='Debounced in interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='1' exp='Foot_Pedal = 1' start='0' >
							<flowline >
								<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
									<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
										<option value='1' />
										<option value='0' />
										<option value='8' />
										<option value='-1' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
									</settings>
								</command>
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='call' title='Get diode and motor temps' ccode='// Get diode and motor temps
// Call Macro: Temperatures()
FCM_Temperatures();
' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Temperatures' />
								<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
									<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
										<option value='1' />
										<option value='0' />
										<option value='8' />
										<option value='-1' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
									</settings>
								</command>
								<command class_type='output' title='Turn on Hi Voltage' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='2' exp='1' usechipref='1' />
								<command class_type='decision' title='Run Time Speed Changes' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0' swap='0' >
									<flowline >
										<command class_type='comment' title='' comment='Prevent Noise from activating speed change' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='program_button_count = program_button_count + 1' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='program_button_count &gt; 3' swap='1' >
											<flowline >
												<command class_type='goto' title='Goto Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='' />
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='program_button_count = 0' />
												</command>
											</flowline>
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Command_Speed = Command_Speed + 25' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &gt; 300' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Command_Speed = 100' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
											<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
												<option value='1' />
												<option value='0' />
												<option value='8' />
												<option value='-1' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
											</settings>
										</command>
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='10' type='1' />
										<command class_type='decision' title='At 300 RPM - Display &quot;MAX&quot;' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed = 300' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_position = 0x5c' />
													<exp exp='display_string = &quot;300&quot;' />
													<exp exp='//Vmax = Command_Speed' />
												</command>
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
											</flowline>
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_position = 0x5c' />
													<exp exp='Display_Value = Command_Speed' />
													<exp exp='//Vmax = Command_Speed' />
												</command>
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
											</flowline>
										</command>
										<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0 //AND .count &lt; 5' >
											<flowline >
												<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='.count = .count + 1' />
												</command>
											</flowline>
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='.count = 0' />
										</command>
										<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed' >
											<case >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='3' />
														<argument exp='command_speed' />
													</command>
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='4' />
														<argument exp='0' />
													</command>
												</flowline>
											</case>
											<case exp='275' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='3' />
														<argument exp='250' />
													</command>
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='4' />
														<argument exp='25' />
													</command>
												</flowline>
											</case>
											<case exp='300' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='3' />
														<argument exp='250' />
													</command>
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='4' />
														<argument exp='50' />
													</command>
												</flowline>
											</case>
										</command>
										<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
											<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
												<option value='1' />
												<option value='0' />
												<option value='8' />
												<option value='-1' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
											</settings>
										</command>
										<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='A' />
									</flowline>
									<flowline >
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &gt; 300' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Command_Speed = 100' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='program_button_count = 0' />
										</command>
									</flowline>
								</command>
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Change_bit = 1' swap='0' >
									<flowline >
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ReadCounter' >
											<return exp='enc2' />
										</command>
										<command class_type='calculation' title='Calculation' ccode='// Calculation
// Calculation:
//  enc2 = enc2 / 4
FCV_ENC2 = FCV_ENC2 / 4;
' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='enc2 = enc2 / 4' />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='enc2 &gt; .enc2_store' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Command_Speed = Command_Speed + 25' />
												</command>
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='.enc2_store = enc2' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='enc2 &lt; .enc2_store' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Command_Speed = Command_Speed - 25' />
												</command>
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='.enc2_store = enc2' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='CHANGE_BIT = 0' />
										</command>
										<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='.Rollover' >
											<case >
												<flowline />
											</case>
											<case exp='0' >
												<flowline >
													<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &lt; 100' swap='0' >
														<flowline >
															<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
																<exp exp='COMMAND_SPEED = 100' />
															</command>
														</flowline>
														<flowline />
													</command>
													<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &gt; 300' swap='0' >
														<flowline >
															<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
																<exp exp='COMMAND_SPEED = 300' />
															</command>
														</flowline>
														<flowline />
													</command>
												</flowline>
											</case>
											<case exp='1' >
												<flowline >
													<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &lt; 100' swap='0' >
														<flowline >
															<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
																<exp exp='COMMAND_SPEED = 100' />
															</command>
														</flowline>
														<flowline />
													</command>
													<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &gt; 300' swap='0' >
														<flowline >
															<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
																<exp exp='COMMAND_SPEED = 100' />
															</command>
														</flowline>
														<flowline />
													</command>
												</flowline>
											</case>
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_position = 0x5C' />
											<exp exp='Display_Value = Command_Speed' />
										</command>
										<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
											<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
												<option value='1' />
												<option value='0' />
												<option value='8' />
												<option value='-1' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
											</settings>
										</command>
										<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
											<return exp='Change_bit' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
										<command class_type='switch' title='Switch' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed' >
											<case >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='3' />
														<argument exp='command_speed' />
													</command>
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='4' />
														<argument exp='0' />
													</command>
												</flowline>
											</case>
											<case exp='275' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='3' />
														<argument exp='250' />
													</command>
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='4' />
														<argument exp='25' />
													</command>
												</flowline>
											</case>
											<case exp='300' >
												<flowline >
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='3' />
														<argument exp='250' />
													</command>
													<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
														<argument exp='4' />
														<argument exp='50' />
													</command>
												</flowline>
											</case>
										</command>
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='10' type='1' />
										<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
											<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
												<option value='1' />
												<option value='0' />
												<option value='8' />
												<option value='-1' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
											</settings>
										</command>
									</flowline>
									<flowline />
								</command>
								<command class_type='switch' title='command_speed' textarea='36,25,36,25' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed' >
									<case >
										<flowline />
									</case>
									<case exp='100' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 130 //219' />
												<exp exp='step_inc = 1' />
											</command>
										</flowline>
									</case>
									<case exp='125' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 178 //270' />
												<exp exp='step_inc = 1' />
											</command>
										</flowline>
									</case>
									<case exp='150' >
										<flowline >
											<command class_type='calculation' title='Around 230' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 212' />
												<exp exp='step_inc = 1' />
												<exp exp='' />
											</command>
										</flowline>
									</case>
									<case exp='175' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 263 //370' />
												<exp exp='step_inc = 2' />
											</command>
										</flowline>
									</case>
									<case exp='200' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = Cal_200' />
												<exp exp='step_inc = 2' />
											</command>
										</flowline>
									</case>
									<case exp='225' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 349 //492' />
												<exp exp='step_inc = 2' />
											</command>
										</flowline>
									</case>
									<case exp='250' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 431 //560' />
												<exp exp='step_inc = 2' />
											</command>
										</flowline>
									</case>
									<case exp='275' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 480 //623' />
												<exp exp='step_inc = 1' />
											</command>
										</flowline>
									</case>
									<case exp='300' >
										<flowline >
											<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
												<exp exp='Vmax = 538 //699' />
												<exp exp='step_inc = 1' />
											</command>
										</flowline>
									</case>
								</command>
								<command class_type='comment' title='' comment='Temperature is taken
in macro &quot;temperatures&quot; while foot switch is off' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='calculation' title='Deduct or add temperature change from ambient calibration.' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Vmax = Vmax + ((Motor_temp_calibrate - Motor_temp) * 2)' />
									<exp exp='' />
									<exp exp='pgain = .5' />
								</command>
								<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
									<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
										<option value='1' />
										<option value='0' />
										<option value='8' />
										<option value='-1' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
									</settings>
								</command>
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
									<return exp='vmax_gain' />
									<argument exp='11' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='vmax_gain = Vmax_gain / 100 //vmax_gain = vmax_store' />
									<exp exp='vmax = (vmax * vmax_gain) / 1.75' />
									<exp exp='step_inc = 1' />
								</command>
								<command class_type='call' title='Get closed loop values and set ramp PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Loop_Formula3' />
								<command class_type='call' title='increments profile  to vmax. Drops speed for hi current' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Profile' />
								<command class_type='call' title='Get current Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Current' macro='GetAverageInt' >
									<return exp='Current_peak' />
									<argument exp='10' />
									<argument exp='15' />
								</command>
								<command class_type='decision' title='3500 = 10.2 AMPS' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_peak &gt; 3500' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Time_count = Time_count + 1' />
										</command>
										<command class_type='decision' title='Decision' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Current_peak &gt; 3900' swap='0' >
											<flowline >
												<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='time_count = time_count + 20' />
												</command>
											</flowline>
											<flowline />
										</command>
										<command class_type='decision' title='Decision 500 = approx 10 sec' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='time_count &gt; 500' swap='0' >
											<flowline >
												<command class_type='output' title='Beep Off' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='0' usechipref='1' />
												<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
													<argument exp='0' />
												</command>
												<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Disable' />
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='display_position = 0x54' />
													<exp exp='display_string = &quot;Jammed &quot;' />
												</command>
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
												<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Foot_Pedal = 0' >
													<flowline >
														<command class_type='input' title='Get foot switch status' cmdcolor='16711935' cmdcolor_sec='3610239' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='0' cmdcustom_color='1' mode='1' port='1048577' mask='128' exp='Foot_Pedal' usechipref='1' />
													</flowline>
												</command>
												<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
												<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='Time_count = 0' />
													<exp exp='Beep_delay = 1000' />
												</command>
												<command class_type='output' title='Beep on' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
												<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
												<command class_type='output' title='Beep Off' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='0' usechipref='1' />
												<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
													<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
														<option value='1' />
														<option value='0' />
														<option value='8' />
														<option value='-1' />
														<option value='0' />
														<option value='0' />
														<option value='0' />
														<option value='0' />
													</settings>
												</command>
												<command class_type='goto' title='Goto Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='1' labelname='' />
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Time_count = 0' />
										</command>
									</flowline>
								</command>
								<command class_type='comment' title='' comment='CURRENT BEEPS  ******************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Temp_store = Current_read' />
								</command>
								<command class_type='call' title='327 counts per AMP' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Current' macro='GetInt' >
									<return exp='Current_read' />
								</command>
								<command class_type='calculation' title='Replacement  opamp' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Current_read = (Current_read - 1474) // * 2' />
								</command>
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
									<return exp='Beep_enable' />
									<argument exp='14' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='hi = 1' swap='0' >
									<flowline >
										<command class_type='decision' title='' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='current_read &gt; (Current_limit_high) AND OK_to_beep = 1 AND Beep_enable = 1' swap='0' >
											<flowline >
												<command class_type='calculation' title='Milliseconds' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='beep_delay = 20' />
													<exp exp='OK_to_beep = 0' />
													<exp exp='Current_beep_Average = 0' />
													<exp exp='Beep_Is_on = 1' />
												</command>
												<command class_type='output' title='Beeper On' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline >
										<command class_type='decision' title='' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='current_read &gt; (Current_limit_low) AND OK_to_beep = 1 AND Beep_enable = 1' swap='0' >
											<flowline >
												<command class_type='comment' title='' comment='Current at low set points are
drawin by reducer friction, so
setpoint is raised to prevent beeping' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
												<command class_type='calculation' title='Milliseconds' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
													<exp exp='beep_delay = 20' />
													<exp exp='OK_to_beep = 0' />
													<exp exp='Current_beep_Average = 0' />
													<exp exp='Beep_Is_on = 1' />
												</command>
												<command class_type='output' title='Beeper On' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='64' exp='1' usechipref='1' />
											</flowline>
											<flowline />
										</command>
									</flowline>
								</command>
								<command class_type='calculation' title='Reinstate current read value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='current_read = temp_store' />
								</command>
								<command class_type='comment' title='' comment='CURRENT BEEPS FINISHED ******************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
									<return exp='Change_bit' />
								</command>
								<command class_type='comment' title='' comment='Current COntrol' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
									<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
										<option value='1' />
										<option value='0' />
										<option value='8' />
										<option value='-1' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
										<option value='0' />
									</settings>
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = fr' swap='1' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='FR_Count = FR_Count + 1' />
										</command>
										<command class_type='decision' title='On Solid?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='FR_count &gt; 5' swap='0' >
											<flowline >
												<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = fr' swap='1' >
													<flowline >
														<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
															<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
																<option value='1' />
																<option value='0' />
																<option value='8' />
																<option value='-1' />
																<option value='0' />
																<option value='0' />
																<option value='0' />
																<option value='0' />
															</settings>
														</command>
														<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Direction' />
														<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
															<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
																<option value='1' />
																<option value='0' />
																<option value='8' />
																<option value='-1' />
																<option value='0' />
																<option value='0' />
																<option value='0' />
																<option value='0' />
															</settings>
														</command>
														<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
															<exp exp='Profile_Float = 0' />
															<exp exp='Velocity_Float = 0' />
														</command>
														<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
															<exp exp='Clock_int2 = 0' />
														</command>
													</flowline>
													<flowline />
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='FR_Count = 0' />
										</command>
									</flowline>
								</command>
							</flowline>
						</command>
						<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='1' labelname='B' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Stop = 0' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='call' title='Setup Display for run time' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Running_display' />
						<command class_type='calculation' title='Display Run Mode' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='current_read = 0' />
							<exp exp='enc2 = 0' />
							<exp exp='current_var = 0' />
						</command>
						<command class_type='call' title='Get encoder back to zero' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='ResetCounter' />
						<command class_type='calculation' title='Display Run Mode' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Display_String = &quot;Stopped&quot;' />
							<exp exp='display_position = 0x54' />
							<exp exp='' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
							<argument exp='0' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='User_Program_mode' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='lsb' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='msb' />
							<argument exp='4' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='command_speed = msb + lsb' />
						</command>
						<command class_type='decision' title='First powerup or corruption  intervention' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Command_Speed &gt; 300 OR Command_Speed &lt; 0' swap='0' >
							<flowline >
								<command class_type='calculation' title='Set Default powerup speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Command_Speed = 100' />
								</command>
								<command class_type='call' title='Set eproms up at pu defaults' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='3' />
									<argument exp='100' />
								</command>
								<command class_type='call' title='Set eproms up at pu defaults' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
									<argument exp='4' />
									<argument exp='0' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='loop' title='Wait for release' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 0' start='0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
							</flowline>
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='Enable' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='WriteCounter' >
							<argument exp='Command_Speed*4' />
						</command>
						<command class_type='loop' title='Wait for release' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Program_button = 1' start='0' >
							<flowline >
								<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='display_string = &quot;User Program Mode&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='comment' title='' comment='*************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x14' />
									<exp exp='display_string = &quot;New Speed        RPM&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Encoder_test' />
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Separate MSB and LSB for eprom saving' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='lsb' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='msb' />
							<argument exp='4' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='command_speed = msb + lsb' />
						</command>
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Torque_Level' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='1' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Startup' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='comment' title='' comment='Set Reverse switch and relay ' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='Enable' />
						<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='loop' title='Wait for motor to stop before switching relay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='1' exp='Velocity_Float &lt; 10' start='0' >
							<flowline >
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
									<return exp='Velocity_Float' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='Display_Value = Velocity_Float' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
							</flowline>
						</command>
						<command class_type='comment' title='' comment='Align fwd/rev switch with BiStable relay' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='decision' title='Forward is 0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = 0' swap='1' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='cw = 0' />
								</command>
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='0' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='FR = 0' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='cw = 1' />
								</command>
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='output' title='Output' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='0' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='FR = 1' />
								</command>
							</flowline>
						</command>
						<command class_type='comment' title='' comment='BiStabl relay now aligns with Fwd/Rev Switch
Motor should be stopped at this time' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='comment' title='' comment='Turn Screen On' textarea='408,1,408,1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Set backlight to full on' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendChar' >
							<argument exp='prefix' />
						</command>
						<command class_type='call' title='Full on Light' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendChar' >
							<argument exp='0x53' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='0' />
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='SendChar' >
							<argument exp='8' />
						</command>
						<command class_type='call' title='CLear the Screen' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='call' title='Read Eprom Command Speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Command_Speed' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Read Saved Encoder Counter Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Encoder_counter' />
							<argument exp='5' />
						</command>
						<command class_type='output' title='Enable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
						<command class_type='output' title='Disable PWM Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='1' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='2' />
						<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
						<command class_type='call' title='Get low torque value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Current_limit_low' />
							<argument exp='8' />
						</command>
						<command class_type='call' title='Get high torque value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Current_limit_high' />
							<argument exp='9' />
						</command>
						<command class_type='comment' title='' comment='***************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Convert eeprom numbers (0 to 100) to 2048' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_limit_low = (current_limit_low * 2048) / 100' />
							<exp exp='Current_limit_high = (current_limit_high * 2048) / 100' />
						</command>
						<command class_type='calculation' title='Convert to 0-4096' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Current_limit_low = (Current_limit_low * 4096) / 100' />
							<exp exp='//then limit to 75% by -' />
							<exp exp='Current_limit_low = Current_limit_low / 1.3' />
							<exp exp='' />
							<exp exp='Current_limit_high = (Current_limit_high * 4096) / 100' />
							<exp exp='//then limit to 75% by -' />
							<exp exp='Current_limit_high = Current_limit_high / 1.3' />
						</command>
						<command class_type='comment' title='' comment='***************************' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
						<command class_type='call' title='Beep' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Direction' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='decision' title='Decision' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = fr' swap='0' >
							<flowline >
								<command class_type='goto' title='Goto Connection Point' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='' />
							</flowline>
							<flowline />
						</command>
						<command class_type='output' title='Disable PWM Ground' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='call' title='Turn off motor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
							<argument exp='0' />
						</command>
						<command class_type='call' title='Disable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Disable' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Read_Velocity' />
						<command class_type='decision' title='Wait for motor to stop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='velocity_float &gt; 10' swap='0' >
							<flowline >
								<command class_type='decision' title='Continue if foot switch is reactivated' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Foot_Pedal = 0' swap='0' >
									<flowline >
										<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
										<command class_type='decision' title='User Hit reverse while in decel, then FS - Wait for stop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = 1 AND FR = 0 OR (Forward_Reverse = 0 AND FR = 1)' swap='0' >
											<flowline >
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Motor_stop_Wait' />
												<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Disable' />
												<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='velocity_float &gt; 10' start='0' >
													<flowline >
														<command class_type='output' title='Disable PWM Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
														<command class_type='delay' title='Wait for Back EMF to settle' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='1' />
														<command class_type='output' title='Enable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
														<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
															<return exp='Velocity_Float' />
														</command>
														<command class_type='calculation' title='Normalize speed numbers' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
															<exp exp='Velocity_Float = Velocity_Float * Velocity_Gain' />
														</command>
														<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='1' type='1' />
														<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
														<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
														<command class_type='calculation' title='Calculation' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
															<exp exp='velocity_float = velocity_float * Velocity_Gain' />
															<exp exp='' />
														</command>
													</flowline>
												</command>
											</flowline>
											<flowline />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Motor to continue on the fly if reverse switch not activated' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = 1 AND FR = 0 OR (Forward_Reverse = 0 AND FR = 1)' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Motor_stop_Wait' />
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
						<command class_type='input' title='Get foot switch status' cmdcolor='16711935' cmdcolor_sec='3610239' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='0' cmdcustom_color='1' mode='1' port='1048577' mask='128' exp='Foot_Pedal' usechipref='1' />
						<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = 1' swap='0' >
							<flowline >
								<command class_type='calculation' title='Display Actual amps' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x4d' />
									<exp exp='display_string = &quot;&gt;&gt;&gt;&quot;' />
									<exp exp='' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='32' exp='0' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='fr = 1' />
								</command>
							</flowline>
							<flowline >
								<command class_type='calculation' title='Display Actual amps' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x4d' />
									<exp exp='display_string = &quot;&lt;&lt;&lt;&quot;' />
									<exp exp='' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='1' usechipref='1' />
								<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='50' type='1' />
								<command class_type='output' title='Relay Pulse' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048576' mask='16' exp='0' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='fr = 0' />
								</command>
							</flowline>
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='5' type='1' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Ramp = 0' />
						</command>
						<command class_type='call' title='Enable Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
						<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='A' />
						<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Eprom_Defaults' description='Factory defaults' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Command Speed LSB defaults' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='3' />
							<argument exp='100' />
						</command>
						<command class_type='call' title='Command Speed MSB defaults' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='4' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Read and load Command Speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Command_Speed' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Encoder Counter Location' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='5' />
							<argument exp='3' />
						</command>
						<command class_type='call' title='Torque selection at low value is 0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='7' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Low Level value for torque - Value is percentage' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='8' />
							<argument exp='40' />
						</command>
						<command class_type='call' title='High level value for torque value is percentage' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='9' />
							<argument exp='60' />
						</command>
						<command class_type='call' title='Load Variable' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Current_limit_low' />
							<argument exp='8' />
						</command>
						<command class_type='call' title='Load Variable' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Current_limit_high' />
							<argument exp='9' />
						</command>
						<command class_type='call' title='Cool Down Counts' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='10' />
							<argument exp='0' />
						</command>
						<command class_type='comment' title='' comment='Address 11 = vmax_gain' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='comment' title='' comment='Address 12  = Temp calibrate constant' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Powerup Check for new program' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='13' />
							<argument exp='99' />
						</command>
						<command class_type='call' title='Beep Enable bit' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='14' />
							<argument exp='1' />
						</command>
						<command class_type='comment' title='' comment='Address 100 = Powerup counts units' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='comment' title='' comment='Address 101 = Powerup counts 255 multiplier' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Eprom Seconds for timer' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='15' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Eprom Seconds for timer' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='16' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Eprom Seconds for timer' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='17' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Eprom Seconds for timer' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='18' />
							<argument exp='0' />
						</command>
						<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Write' >
							<argument exp='19' />
							<argument exp='3' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Loop_Formula3' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='PWM_Clock2 = 0' />
						</command>
						<command class_type='output' title='Disable PWM Drive' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='output' title='Enable Read' ccode='// Enable Read
// Output: 0 -&gt; C0
FCP_SET(B, C, 0x01, 0, (0));' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='0' usechipref='1' />
						<command class_type='delay' title='EMF to settle. Creates small click at zero velocity high torque' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='150' type='0' />
						<command class_type='call' title='Get KE value from Motor' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='Velocity_Feedback' macro='GetInt' >
							<return exp='Velocity_Float' />
						</command>
						<command class_type='comment' title='' comment='_________________________________________' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='comment' title='' comment='_________________________________________' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='output' title='Disable Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
						<command class_type='output' title='Re-Enable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='0' usechipref='1' />
						<command class_type='call' title='Call Component Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='Enable' />
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='calculation' title='Normalize speed numbers' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Velocity_Float = Velocity_Float * Velocity_Gain' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='calculation' title='Get error value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='error_average = Profile_Float - Velocity_Float' />
							<exp exp='Error_Average = Error_Average * pgain' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='ramp_store = Ramp' />
							<exp exp='//Ramp = 0' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='comment' title='' comment='At Vmax formulas' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Ramp_float = float2int ((profile_float) + (error_Average) + (Integrate_Result)) * 2' />
							<exp exp='' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='ramp_float &lt; 0 OR Ramp_Float &gt; 800' swap='0' >
							<flowline >
								<command class_type='goto' title='Goto Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='' />
							</flowline>
							<flowline />
						</command>
						<command class_type='calculation' title='Load Ramp with New Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Ramp = float2int (Ramp_Float)' />
							<exp exp='' />
						</command>
						<command class_type='call' title='Change Speed at run time?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='QuadEncoder1' macro='CheckForChanges' >
							<return exp='Change_bit' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='velocity_float &lt; 5' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='velocity_float = 5' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='comment' title='' comment='Comment' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='display_count &gt; 2' swap='0' >
							<flowline >
								<command class_type='calculation' title='Display Actual amps' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_count = 0' />
									<exp exp='display_position = 0x4d' />
									<exp exp='Float_Value = profile_float' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
								<command class_type='calculation' title='Display Actual amps' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_count = 0' />
									<exp exp='display_position = 0x0d' />
									<exp exp='//Display_value = Foot_Pedal' />
									<exp exp='Float_Value = Velocity_Float' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
								<command class_type='calculation' title='Display Actual amps' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_count = 0' />
									<exp exp='display_position = 0x22' />
									<exp exp='//Display_value = Foot_Pedal' />
									<exp exp='Float_Value = velocity_float' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
								<command class_type='calculation' title='Display Actual amps' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_count = 0' />
									<exp exp='display_position = 0x61' />
									<exp exp='//Display_value = Foot_Pedal' />
									<exp exp='Float_Value = Ramp_float' />
									<exp exp='' />
								</command>
								<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_float' />
								<command class_type='call' title='Call Macro' disable='1' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_Display_Value' />
							</flowline>
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_Count = Display_Count + 1' />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Crap Number made it here' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='ramp &gt; 800 OR ramp &lt; 1' swap='0' >
							<flowline >
								<command class_type='comment' title='' comment='Crap Number made it here' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
							</flowline>
							<flowline >
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
									<argument exp='Ramp' />
								</command>
							</flowline>
						</command>
						<command class_type='label' title='Connection Point' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' labelid='0' labelname='A' />
					</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='native' title='C Code' ccode='/*
  Enter C code below this comment
*/
OSCCON = 0x71;
INTCON2 &amp;=0x7F;
//UCON = 0x13;' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' language='C' />
						<command class_type='calculation' title='Set Array values' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Integrate[0] = 0' />
							<exp exp='Integrate[1] = 0' />
							<exp exp='Integrate[2] = 0' />
							<exp exp='Integrate[3] = 0' />
							<exp exp='Integrate[4] = 0' />
							<exp exp='Integrate[5] = 0' />
							<exp exp='Integrate[6] = 0' />
							<exp exp='Integrate[7] = 0' />
							<exp exp='Integrate[8] = 0' />
							<exp exp='Integrate[9] = 0' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='500' type='1' />
						<command class_type='output' title='Turn on Hi Voltage' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='2' exp='1' usechipref='1' />
						<command class_type='output' title='Disable PWM' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='2' exp='1' usechipref='1' />
						<command class_type='output' title='Disable Velocity Read' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048578' mask='1' exp='1' usechipref='1' />
						<command class_type='output' title='Prevent toggle on mclr/re3' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='64' exp='0' usechipref='1' />
						<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048580' mask='8' exp='Junk' usechipref='1' />
						<command class_type='input' title='Get program button status' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
						<command class_type='input' title='Get foot switch status' cmdcolor='16711935' cmdcolor_sec='3610239' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='0' cmdcustom_color='1' mode='1' port='1048577' mask='128' exp='Foot_Pedal' usechipref='1' />
						<command class_type='input' title='Forward Reverse Switch' cmdcolor='16711935' cmdcolor_sec='16737535' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='512072704' cmdcustom_color='1' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
						<command class_type='call' title='Init 9600 Rate to change default display speed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='uart9600' macro='Initialise' />
						<command class_type='call' title='Change Serial to 57600 Baud' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Change_Baud' />
						<command class_type='call' title='UART1 Init' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='UART1' macro='Initialise' />
						<command class_type='loop' title='Active on powerup' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='Foot_Pedal = 0 AND Program_button = 1' start='0' >
							<flowline >
								<command class_type='input' title='Get foot switch status' cmdcolor='16711935' cmdcolor_sec='3610239' cmdcolor_txt='0' cmdgradient='1' cmdopacity='1' cmdAuto_color='0' cmdcustom_color='1' mode='1' port='1048577' mask='128' exp='Foot_Pedal' usechipref='1' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='display_string = &quot;Pedal on Powerup!&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
							</flowline>
						</command>
						<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
							<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
								<option value='1' />
								<option value='0' />
								<option value='8' />
								<option value='-1' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
								<option value='0' />
							</settings>
						</command>
						<command class_type='call' title='Get Vmax Gain Value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='temp_byte' />
							<argument exp='11' />
						</command>
						<command class_type='decision' title='Vmax Gain not set?' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='temp_byte &gt; 240' swap='0' >
							<flowline />
							<flowline >
								<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
									<return exp='vmax_gain' />
									<argument exp='11' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='vmax_gain = vmax_gain / 100' />
								</command>
							</flowline>
						</command>
						<command class_type='call' title='Display hours and torque settings' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Display_hours' />
						<command class_type='input' title='Check for Powerup  Setup' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
						<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='1' />
						<command class_type='call' title='Should be 99' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Power_up_Checksum' />
							<argument exp='13' />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0 AND Foot_Pedal = 1 OR Power_up_Checksum != 99' swap='0' >
							<flowline >
								<command class_type='decision' title='New CHip Installed' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Power_up_Checksum != 99' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Eprom_Defaults' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='display_string = &quot;Eprom Default ok&quot;' />
											<exp exp='display_position = 0x00' />
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='2' type='2' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
									</flowline>
									<flowline />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='display_position = 0x00' />
									<exp exp='display_string = &quot;Beep on/off&quot;' />
								</command>
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Write_display_text' />
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='program_button_count = 0' />
								</command>
								<command class_type='loop' title='5 seconds' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='program_button = 0 AND program_button_count &lt; 50' start='0' >
									<flowline >
										<command class_type='input' title='Check for Powerup  Setup' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='32' exp='Program_button' usechipref='1' />
										<command class_type='delay' title='Delay' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='100' type='1' />
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='program_button_count = program_button_count + 1' />
										</command>
									</flowline>
								</command>
								<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='program_button_count = 50' swap='0' >
									<flowline >
										<command class_type='call' title='Factory Setup' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Factory_setup_mode' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='CLS' />
									</flowline>
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP_ENABLE' />
									</flowline>
								</command>
								<command class_type='comment' title='' comment='New pic chip eprom will read 255
Or button pressed will cause factory set mode' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0 AND Foot_Pedal = 0' swap='0' >
							<flowline >
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Torque_limits' />
								<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Accel_Rate_Adder' />
							</flowline>
							<flowline />
						</command>
						<command class_type='call' title='Get rate value for accel' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Accel_Rate_Adder' />
							<argument exp='19' />
						</command>
						<command class_type='calculation' title='Develop a constant Either default or eprom value' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='vmax_store = vmax_gain' />
						</command>
						<command class_type='call' title='Call Startup' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Startup' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='PU_Counter' />
						<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Splash_Screen' />
						<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='Clear_Places = 6' />
							<exp exp='Clear_position = 0x00' />
							<exp exp='' />
						</command>
						<command class_type='comment' title='' comment='***************Setup PWM registers' textarea='12,0,12,0' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' />
						<command class_type='call' title='Load Calibrated Temperature' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
							<return exp='Motor_temp_calibrate' />
							<argument exp='12' />
						</command>
						<command class_type='calculation' title='Convert motor temperature to degrees c' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
							<exp exp='//Motor_temp_calibrate = Motor_temp_calibrate / 6' />
							<exp exp='Motor_temp_calibrate = (Motor_temp_calibrate - 65) * .72 //gets degrees c.' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' type='0' exp='1' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
									<exp exp='Display_count = 0' />
									<exp exp='display_position = 0x4d' />
									<exp exp='Display_Value = ramp_float' />
								</command>
								<command class_type='decision' title='FS State' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Foot_Pedal = 0' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='State = 1' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
											<return exp='LSB' />
											<argument exp='3' />
										</command>
										<command class_type='call' title='Call Component Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='eeprom1' macro='Read' >
											<return exp='MSB' />
											<argument exp='4' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' >
											<exp exp='Command_Speed = msb + lsb' />
										</command>
										<command class_type='input' title='Input' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' mode='1' port='1048577' mask='8' exp='Forward_Reverse' usechipref='1' />
										<command class_type='decision' title='COntinue without waiting for stop' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Forward_Reverse = fr' swap='0' >
											<flowline />
											<flowline >
												<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Direction' />
											</flowline>
										</command>
										<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='0' name='TMR0' >
											<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
												<option value='1' />
												<option value='0' />
												<option value='8' />
												<option value='-1' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
											</settings>
										</command>
										<command class_type='call' title='Clear PWM component' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' component='PWM1DRIVE' macro='SetDutyCycle10Bit' >
											<argument exp='0' />
										</command>
										<command class_type='interrupt' title='Interrupt' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' enable='1' name='TMR0' call='Get_IO' >
											<settings timer='1' prescale='256' postscale='-1' rollover='-1' bitcount='-1' trigger='3' maskhi='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' masklo='--------------------------------------------------------------------------------------------------------------------------------------------------------------------------8' >
												<option value='1' />
												<option value='0' />
												<option value='8' />
												<option value='-1' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
												<option value='0' />
											</settings>
										</command>
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Proportional' />
									</flowline>
									<flowline />
								</command>
								<command class_type='decision' title='Progam button' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' exp='Program_button = 0' swap='0' >
									<flowline >
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='BEEP' />
										<command class_type='call' title='User_program_mode' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='User_Program_mode' />
										<command class_type='call' title='Call Macro' cmdcolor='5767111' cmdcolor_sec='5767111' cmdcolor_txt='2105376' cmdgradient='1' cmdopacity='0.01' macro='Splash_Screen' />
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Run_Clock' description='Runs at powerdown only
Collects seconds and stores in eeprom to be displayed at powerup
Requires 4 eprom locations - Addressed 15,16,17,18
Equates to 1.1745 million hours
Interrupt get_i/o collects seconds' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='444fb704-814c-4707-a15c-759ba088505c' vmin='1' vmaj='2' codename='PWM1DRIVE' x='120' y='100' z='1.7793' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='channel' data='001' />
					<value target='altpin' data='0' />
					<value target='pwm_pin' data='$PORTC.2' />
					<value target='RemapPin' data='000' />
					<value target='timer' data='002' />
					<value target='period' data='255' />
					<value target='prescale' data='000' />
					<value target='period_calc' data='128.000000' />
					<value target='frequency_calc2' data='7812.500000' />
					<value target='frequency_calc' data='7.812500' />
					<value target='pwm_prescale' data='1' />
					<value target='ReqFreq' data='100.000000' />
					<value target='OldReqFreq' data='100.000000' />
					<value target='CalcFreq' data='100.004570' />
					<value target='CalcPeriod' data='10936' />
					<value target='CalcScaler' data='64' />
					<value target='Apply' data='0' />
					<value target='ClockSpeed' data='8000000' />
					<value target='SimRep' data='001' />
					<value target='Family' data='PIC' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='dcbf571f-a6fa-402d-bdd4-be00cca4070f' vmin='2' vmaj='1' codename='eeprom1' x='-40' y='0' z='10' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='EESize' data='256 byte' />
					<value target='EEbitdepth' data='8 bit' />
					<value target='InitialValues' data='3' />
					<value target='InitValsParsed' data='3' />
					<value target='ResetValues' data='0' />
					<value target='BitDepth' data='8' />
					<value target='Sim' data='0' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='c73616d1-7ad0-45d9-aada-69ccfa4c5efc' vmin='0' vmaj='3' codename='uart9600' x='110' y='30' z='0.755' xsz='60' ysz='26' zsz='1.51' 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='cal_uart::CHANNEL' data='001' />
					<value target='cal_uart::BAUD_LIST' data='004' />
					<value target='cal_uart::BAUD' data='9600' />
					<value target='cal_uart::DBITS' data='008' />
					<value target='cal_uart::RETURN' data='001' />
					<value target='cal_uart::ECHO' data='000' />
					<value target='cal_uart::UseTX' data='1' />
					<value target='cal_uart::TX' data='$PORTC.6' />
					<value target='cal_uart::OutputPins' data='007' />
					<value target='cal_uart::TXAlt' data='0' />
					<value target='cal_uart::UseRX' data='1' />
					<value target='cal_uart::RX' data='$PORTC.7' />
					<value target='cal_uart::InputPins' data='013' />
					<value target='cal_uart::RXAlt' data='0' />
					<value target='cal_uart::FLOWEN' data='000' />
					<value target='cal_uart::RTS' data='$PORTB.2' />
					<value target='cal_uart::CTS' data='$PORTB.1' />
					<value target='label' data='UART' />
					<value target='cal_uart::ScopeTraces' data='0' />
					<value target='cal_uart::ConsoleData' data='1' />
					<value target='cal_uart::ConsoleFormat' data='000' />
					<value target='cal_uart::ConsoleColumns' data='64' />
					<value target='cal_uart::DataSource' data='000' />
					<value target='cal_uart::com_port' data='000' />
					<value target='cal_uart::Injector' data='000' />
					<value target='cal_uart::APIUseDDR' data='' />
					<value target='cal_uart::APIDDRPin' data='' />
					<value target='cal_uart::APIDDRRXState' data='' />
					<value target='cal_uart::APIUseFC' data='' />
					<value target='cal_uart::APICTSPin' data='' />
					<value target='cal_uart::APIRTSPin' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='8c97cc7d-3c7b-41b6-b255-6694b6b8eed9' vmin='4' vmaj='1' codename='Current' x='-20' y='60' z='11.2196' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='angle_start' data='225.000000' />
					<value target='angle_sweep' data='270.000000' />
					<value target='ScopeTraces' data='1' />
					<value target='channel' data='1' />
					<value target='vrefvol' data='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='001' />
					<value target='actime' data='2' />
					<value target='bits' data='12' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='3531a68d-7686-44b7-a3a5-67afda8467dc' vmin='3' vmaj='1' codename='QuadEncoder1' x='40' y='0' z='9.2388' 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' comp2dType='0' >
				<resources />
				<properties />
				<values />
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='1a8c2bb7-8bed-4a1c-9186-ba24688c8840' vmin='3' vmaj='1' codename='Velocity_Feedback' x='-50' y='110' z='5' xsz='12.502' ysz='112.5' zsz='10' 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='tang_col' data='2960685' />
					<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='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='006' />
					<value target='actime' data='10' />
					<value target='bits' data='12' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='c73616d1-7ad0-45d9-aada-69ccfa4c5efc' vmin='0' vmaj='3' codename='UART1' x='-67.2957' y='30' z='0.755' xsz='60' ysz='26' zsz='1.51' 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='cal_uart::CHANNEL' data='001' />
					<value target='cal_uart::BAUD_LIST' data='004' />
					<value target='cal_uart::BAUD' data='9600' />
					<value target='cal_uart::DBITS' data='008' />
					<value target='cal_uart::RETURN' data='001' />
					<value target='cal_uart::ECHO' data='000' />
					<value target='cal_uart::UseTX' data='1' />
					<value target='cal_uart::TX' data='$PORTC.6' />
					<value target='cal_uart::OutputPins' data='007' />
					<value target='cal_uart::TXAlt' data='0' />
					<value target='cal_uart::UseRX' data='1' />
					<value target='cal_uart::RX' data='$PORTC.7' />
					<value target='cal_uart::InputPins' data='013' />
					<value target='cal_uart::RXAlt' data='0' />
					<value target='cal_uart::FLOWEN' data='000' />
					<value target='cal_uart::RTS' data='$PORTB.2' />
					<value target='cal_uart::CTS' data='$PORTB.1' />
					<value target='label' data='UART' />
					<value target='cal_uart::ScopeTraces' data='0' />
					<value target='cal_uart::ConsoleData' data='1' />
					<value target='cal_uart::ConsoleFormat' data='000' />
					<value target='cal_uart::ConsoleColumns' data='64' />
					<value target='cal_uart::DataSource' data='000' />
					<value target='cal_uart::com_port' data='000' />
					<value target='cal_uart::Injector' data='000' />
					<value target='cal_uart::APIUseDDR' data='' />
					<value target='cal_uart::APIDDRPin' data='' />
					<value target='cal_uart::APIDDRRXState' data='' />
					<value target='cal_uart::APIUseFC' data='' />
					<value target='cal_uart::APICTSPin' data='' />
					<value target='cal_uart::APIRTSPin' data='' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='14683ea8-5a08-4b3a-be2d-3dea3e17e720' vmin='3' vmaj='1' codename='Temperature' x='90' y='160' z='9' xsz='25.1419' ysz='25.1419' zsz='18.45' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='angle_start' data='225.000000' />
					<value target='angle_sweep' data='270.000000' />
					<value target='cap_color' data='192' />
					<value target='point_color' data='16777215' />
					<value target='ScopeTraces' data='0' />
					<value target='channel' data='3' />
					<value target='vrefvol' data='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='006' />
					<value target='actime' data='10' />
					<value target='bits' data='12' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='14683ea8-5a08-4b3a-be2d-3dea3e17e720' vmin='3' vmaj='1' codename='Motor_Temp_Comp' x='40' y='160' z='9' xsz='25.1419' ysz='25.1419' zsz='18.45' 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' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='angle_start' data='225.000000' />
					<value target='angle_sweep' data='270.000000' />
					<value target='cap_color' data='192' />
					<value target='point_color' data='16777215' />
					<value target='ScopeTraces' data='0' />
					<value target='channel' data='2' />
					<value target='vrefvol' data='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='006' />
					<value target='actime' data='10' />
					<value target='bits' data='12' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='1a8c2bb7-8bed-4a1c-9186-ba24688c8840' vmin='3' vmaj='1' codename='DC_Voltage' x='10' y='0' z='6.75' xsz='12.502' ysz='112.5' zsz='10' 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='tang_col' data='2960685' />
					<value target='mark_col' data='255' />
					<value target='body_color' data='12632256' />
					<value target='ScopeTraces' data='0' />
					<value target='channel' data='11' />
					<value target='vrefvol' data='500' />
					<value target='vrefop' data='000' />
					<value target='convspd' data='000' />
					<value target='actime' data='5' />
					<value target='bits' data='12' />
					<value target='bitmul' data='0.004883' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='a31b1f0a-4221-490d-ae25-027868688f0b' vmin='0' vmaj='1' codename='Debounce_foot_sw' x='90' y='-20' z='3' 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='pin' data='$PORTB.7' />
					<value target='polarity' data='001' />
					<value target='debounce' data='20' />
					<value target='operation' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='a31b1f0a-4221-490d-ae25-027868688f0b' vmin='0' vmaj='1' codename='Debounce_Fwd_Rev_sw' x='120' y='-20' z='3' 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='pin' data='$PORTB.3' />
					<value target='polarity' data='001' />
					<value target='debounce' data='20' />
					<value target='operation' data='000' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
		</component>
	</components>
	<scadaresourcelookup />
	<keymap />
	<panel2d shadows='0' lighting='2' brightness='0' >
		<background rgb='2105930' img='' style='0' />
		<camera xe='48.054' ye='29.2954' ze='394.164' xt='48.054' yt='29.2954' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<viewport dx='128' dy='128' zoom='39.2933' fix_topleft='0' />
		<page x='1000' y='1000' show='0' rgb='7360576' />
	</panel2d>
	<panel3d shadows='0' lighting='2' brightness='0' perspective='1' >
		<background rgb='8409120' img='' style='0' />
		<table rgb='7360576' img='' style='0' size='25' />
		<camera xe='-30.9134' ye='103.401' ze='251.213' xt='-30.9134' yt='103.401' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<camerakey0 xe='0' ye='0' ze='300' xt='0' yt='0' zt='0' xquat='0' yquat='0' zquat='0' wquat='1' />
		<camerakey1 xe='-3.67394e-14' ye='0' ze='-300' xt='0' yt='0' zt='0' xquat='0' yquat='1' zquat='0' wquat='6.12323e-17' />
		<camerakey2 xe='0' ye='-300' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-0.707107' yquat='0' zquat='0' wquat='0.707107' />
		<camerakey3 xe='-3.67394e-14' ye='300' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-4.32978e-17' yquat='0.707107' zquat='0.707107' wquat='4.32978e-17' />
		<camerakey4 xe='-300' ye='-6.66134e-14' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-0.5' yquat='0.5' zquat='0.5' wquat='0.5' />
		<camerakey5 xe='300' ye='-6.66134e-14' ze='6.66134e-14' xt='0' yt='0' zt='0' xquat='-0.5' yquat='-0.5' zquat='-0.5' wquat='0.5' />
		<camerakey6 xe='-173.205' ye='-173.205' ze='173.205' xt='0' yt='0' zt='0' xquat='-0.424708' yquat='0.17592' zquat='0.339851' wquat='0.820473' />
	</panel3d>
	<layout >
		<view type='0' name='Running_display' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Raw_PWM' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Read_Velocity' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Direction' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Calibrate_Motor_Vmax' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Factory_setup_mode' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Proportional' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='65' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Read_Speed' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Loop_Formula3' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Profile' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='70' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Get_IO' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Power_Down' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Main' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Startup' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Splash_Screen' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Eprom_Defaults' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Write_Display_Value' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Write_display_text' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Test_Trap' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Encoder_test' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Torque_limits' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='Temperatures' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
		<view type='0' name='DIsplay_Velocity_test' mode='0' placement='LAAAAAAAAAABAAAA---------------------wUAAAAYAAAABAYAANsDAAA' zoom='75' scrollx='0' scrolly='0' flags='0' />
	</layout>
</document>
</root>
