<root>
<document scada='0' schema='103' license='1,77718953,NJ3213' title='' description='' fcversion='655616' target='PIC.18F.18F27K42' >
	<config data='!0,fd8c!10,f4eb!20,ff80!30,dfff!40,ffff%0,4%4,0%8,1%9,0%b,1%d,1%10,1%11,1%13,1%14,0%15,1%16,3%18,0%1a,1%1b,0%1c,1%1d,1%1f,1%20,0%25,0%28,7%2b,7%30,7%33,1%34,1%37,1%38,1%39,1%3a,1%3b,1%3d,0%40,1' clkspd='32000000' simspd='1' usewdt='0' constif='0' Use3V3='0' />
	<plugins >
		<dll_models enabled='1' />
	</plugins>
	<supplement use='1' head='' body='#include &lt;rand.h&gt;' />
	<debug >
		<watch expr='rnd' />
		<watch expr='loop' />
		<watch expr='Flicker_Level' />
	</debug>
	<traces />
	<ghost >
		<FK2 >
			<data name='FK2D0' port='4294967295' pin='4294967295' />
			<data name='FK2D1' port='4294967295' pin='4294967295' />
			<data name='FK2D2' port='4294967295' pin='4294967295' />
			<data name='FK2D3' port='4294967295' pin='4294967295' />
			<data name='FK2D4' port='4294967295' pin='4294967295' />
			<data name='FK2D5' port='4294967295' pin='4294967295' />
			<data name='FK2D6' port='4294967295' pin='4294967295' />
			<data name='FK2D7' port='4294967295' pin='4294967295' />
			<data name='FK2D8' port='4294967295' pin='4294967295' />
			<data name='FK2D9' port='4294967295' pin='4294967295' />
			<data name='FK2D10' port='4294967295' pin='4294967295' />
			<data name='FK2D11' port='4294967295' pin='4294967295' />
			<data name='FK2D12' port='4294967295' pin='4294967295' />
			<data name='FK2D13' port='4294967295' pin='4294967295' />
			<data name='FK2D14' port='4294967295' pin='4294967295' />
			<data name='FK2D15' port='4294967295' pin='4294967295' />
			<data name='FK2A0' port='4294967295' pin='4294967295' />
			<data name='FK2A1' port='4294967295' pin='4294967295' />
			<data name='FK2A2' port='4294967295' pin='4294967295' />
			<data name='FK2A3' port='4294967295' pin='4294967295' />
			<data name='FK2A4' port='4294967295' pin='4294967295' />
			<data name='FK2A5' port='4294967295' pin='4294967295' />
		</FK2>
		<ICD >
			<data name='AnalogPrescaleValue' value='19' />
			<data name='DigitalSampleRate' value='100000' />
			<data name='BreakpointCount' value='8' />
			<data name='CallStackDepthCount' value='8' />
			<data name='ClockPort' value='1' />
			<data name='ClockPin' value='6' />
			<data name='DataPort' value='1' />
			<data name='DataPin' value='7' />
			<data name='UseDefaultPins' value='1' />
			<data name='WrapEnabled' value='1' />
			<data name='CommsDelayOverridden' value='0' />
			<data name='CommsDelay' value='6' />
			<data name='CalculatedCommsDelay' value='6' />
			<data name='AnalogEB2PrescaleValue' value='2' />
			<data name='DigitalEB2SampleRate' value='100000' />
		</ICD>
		<pins >
			<digital A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
			<analog A='0' B='0' C='0' D='0' E='0' F='0' G='0' H='0' I='0' J='0' K='0' L='0' M='0' N='0' O='0' P='0' Q='0' R='0' S='0' T='0' U='0' V='0' W='0' X='0' Y='0' Z='0' />
		</pins>
	</ghost>
	<components >
		<settings autoimg='1' center='1' unitscale='0' fixedscale='0' fixedx='1' fixedy='1' fixedz='1' headcode='0' />
		<definition guid='48eed96a-0c1f-46fe-b420-099271c3d782' vstate='40' vmin='0' vmaj='1' srcleaf='' visiblename='' description='' category='' category2='' category3='' bIs2dOnly='0' bIs3dOnly='0' catenable='1' author='' manuname='' manucode='' sysinfo='0' keywords='' dynamic='1' scadaCompatible='0' embeddedCompatible='1' showmacros='1' iconpath='' />
		<component class_type='root' codename='panel' panelId='-1' x='0' y='0' z='0' xsz='1' ysz='1' zsz='1' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='0' poslock='0' comp2dType='0' >
			<resources />
			<properties >
				<property name='Remap Pin' target='PWM1::RemapPin' typeid='16' hidden='0' locked='0' info='Allows the PWM hardware pin to be reassigned to another pin' filter='000$PORTB.0
001$PORTB.1
002$PORTB.2
003$PORTB.3
004$PORTB.4
005$PORTB.5
006$PORTB.6
007$PORTB.7
008$PORTC.0
009$PORTC.1
010$PORTC.2
011$PORTC.3
012$PORTC.4
013$PORTC.5
014$PORTC.6
015$PORTC.7' />
				<property name='Remap Pin' target='PWM9::RemapPin' typeid='16' hidden='0' locked='0' info='Allows the PWM hardware pin to be reassigned to another pin' filter='000$PORTB.0
001$PORTB.1
002$PORTB.2
003$PORTB.3
004$PORTB.4
005$PORTB.5
006$PORTB.6
007$PORTB.7
008$PORTC.0
009$PORTC.1
010$PORTC.2
011$PORTC.3
012$PORTC.4
013$PORTC.5
014$PORTC.6
015$PORTC.7' />
				<property name='PWM Pin' target='PWM9::pwm_pin' typeid='5' hidden='0' locked='1' info='Specifies the pin assigned to the PWM channel selected' />
				<property name='Alternative pin' target='PWM8::altpin' typeid='7' hidden='0' locked='1' info='Allows an alternate pin to be used if available. 
Note that on some devices you will also have to change this setting in the device configuration.' />
			</properties>
			<values >
				<value target='PWM1::RemapPin' data='003' />
				<value target='PWM9::RemapPin' data='004' />
				<value target='PWM9::pwm_pin' data='$PORTB.4' />
				<value target='PWM8::altpin' data='0' />
			</values>
			<events />
			<apis />
			<variables >
				<variable public='0' >
					<def class_type='variable' name='counter' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='false' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='rnd' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Flicker_Level' type='s16' description='' isconst='0' isHidden='0' isinit='1' usrinit='127' setinit='127' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='loop' type='b1' description='' isconst='0' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='Switch_Pressed' type='u8' description='' isconst='0' isHidden='0' isinit='1' usrinit='0' setinit='0' />
				</variable>
				<variable public='0' >
					<def class_type='variable' name='true' type='b1' description='' isconst='1' isHidden='0' isinit='1' usrinit='1' setinit='1' />
				</variable>
			</variables>
			<macros >
				<macro >
					<flowline name='Counter' description='' statediag='0' >
						<return name='Return' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='decision' title='Decision Increase or Decrease Flicke rate' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='($A4 = 1 AND $A5 = 0)' swap='0' >
							<flowline >
								<command class_type='calculation' title='Counter=Counter+1' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='Flicker_Level = Flicker_Level + 1' />
								</command>
							</flowline>
							<flowline >
								<command class_type='decision' title='Decision Increase or Decrease Flicke rate' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='($A5 = 1 AND $A4 = 0)' swap='0' >
									<flowline >
										<command class_type='calculation' title='Counter=Counter+1' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='Flicker_Level = Flicker_Level - 1' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='Flicker_Level &lt; 2' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='Flicker_Level = 2' />
								</command>
							</flowline>
							<flowline />
						</command>
						<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='Flicker_Level &gt; 254' swap='0' >
							<flowline >
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='Flicker_Level = 255' />
								</command>
							</flowline>
							<flowline />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Store_Flicker_Value' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='eeprom1' macro='WriteByte' >
							<argument exp='0' />
							<argument exp='Flicker_Level' />
						</command>
						<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='2' type='2' />
					</flowline>
				</macro>
				<macro >
					<flowline name='Rnd' description='' statediag='0' >
						<return name='Return' type='s16' description='' isconst='0' isHidden='0' isinit='0' usrinit='0' setinit='' />
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='loop = 1' />
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' type='1' exp='loop = 0' >
							<flowline >
								<command class_type='calculation' title='' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='rnd = random() &amp; 0xFF' />
									<exp exp='' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='rnd &lt; Flicker_Level' swap='0' >
									<flowline >
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='loop = 0' />
										</command>
									</flowline>
									<flowline />
								</command>
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='.Return = rnd' />
						</command>
					</flowline>
				</macro>
				<macro >
					<flowline name='Main' description='' statediag='0' >
						<return name='Return' type='v0' description='' isconst='0' isHidden='0' isinit='0' usrinit='' setinit='' />
						<command class_type='delay' title='Delay' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='1' type='2' />
						<command class_type='native' title='C Code' ccode='/*
  Enter C code below this comment
*/

OSCFRQ = 0x06;             //Sets HFINTOSC to 32MHz' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' language='C' />
						<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='Servo_Controller1' macro='Initialise' />
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' type='1' exp='counter = 8' >
							<flowline >
								<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='Servo_Controller1' macro='EnableServo' >
									<argument exp='counter' />
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='counter = counter + 1' />
								</command>
							</flowline>
						</command>
						<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
							<exp exp='counter = 0' />
						</command>
						<command class_type='interrupt' title='Interrupt' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' enable='1' name='IOC0' call='Counter' >
							<settings timer='0' prescale='-1' postscale='-1' rollover='-1' bitcount='-1' trigger='3' ppsport='-1' ppspin='-1' maskhi='MAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA' masklo='AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA' >
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
								<option value='-1' />
							</settings>
						</command>
						<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' type='0' exp='1' >
							<flowline >
								<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='pcb_switch1' macro='ReadState' >
									<return exp='Switch_Pressed' />
								</command>
								<command class_type='decision' title='Decision' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' exp='Switch_Pressed = 1' swap='0' >
									<flowline >
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Store_Flicker_Value' />
									</flowline>
									<flowline />
								</command>
								<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='1048576' mask='4' exp='0' usechipref='1' />
								<command class_type='loop' title='Loop' cmdcolor='4767473' cmdcolor_sec='11337727' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' type='1' exp='counter = 8' >
									<flowline >
										<command class_type='call' title='User Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' macro='Rnd' >
											<return exp='rnd' />
										</command>
										<command class_type='call' title='Component Macro' cmdcolor='4487093' cmdcolor_sec='11066367' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' component='Servo_Controller1' macro='SetPosition' >
											<argument exp='counter' />
											<argument exp='rnd' />
										</command>
										<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
											<exp exp='counter = counter + 1' />
										</command>
									</flowline>
								</command>
								<command class_type='calculation' title='Calculation' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' >
									<exp exp='counter = 0' />
								</command>
								<command class_type='output' title='Output' cmdcolor='4206456' cmdcolor_sec='10785756' cmdcolor_txt='16777215' cmdgradient='4' cmdopacity='0.64' mode='1' port='1048576' mask='4' exp='1' usechipref='1' />
							</flowline>
						</command>
					</flowline>
				</macro>
			</macros>
			<component class_type='ref' guid='3531a68d-7686-44b7-a3a5-67afda8467dc' vmin='5' vmaj='1' codename='QuadEncoder1' panelId='-1' x='-23.4455' y='194.25' z='9.91129' xsz='6.26876' ysz='6.26876' 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='VarType' data='000' />
					<value target='Divider' data='001' />
					<value target='EdgesPerRev' data='360' />
					<value target='Resolution' data='1.000000' />
					<value target='pin_a' data='$PORTA.4' />
					<value target='pin_b' data='$PORTA.5' />
					<value target='reprate' data='075' />
					<value target='RotInc' data='2.000000' />
					<value target='ScopeTraces' data='0' />
					<value target='IsActuator' data='1' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='dcbf571f-a6fa-402d-bdd4-be00cca4070f' vmin='2' vmaj='1' codename='eeprom1' panelId='-1' x='300' y='190' z='8.7503' xsz='25' ysz='25' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='1' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='EESize' data='1024 byte' />
					<value target='EEbitdepth' data='8 bit' />
					<value target='InitialValues' data='127' />
					<value target='InitValsParsed' data='127' />
					<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='fc04a65f-f03d-40c8-9f69-0d23d2daac29' vmin='1' vmaj='1' codename='pcb_switch1' panelId='-1' x='132.15' y='197' z='1.04757' xsz='4.88596' ysz='5.5' 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='$PORTA.1' />
					<value target='polarity' data='000' />
					<value target='debounce' data='' />
					<value target='operation' data='000' />
					<value target='color' data='6908265' />
				</values>
				<events />
				<apis />
				<variables />
				<macros />
			</component>
			<component class_type='ref' guid='9202a62e-0a42-4780-adce-16b701e5ec53' vmin='1' vmaj='2' codename='Servo_Controller1' panelId='-1' x='140' y='-40' z='0' xsz='25' ysz='25' zsz='25' xang='0' yang='0' zang='0' xquat='0' yquat='0' zquat='0' wquat='1' visible='1' scadavisible='1' interactive='1' solid='1' layer='1' poslock='0' comp2dType='0' >
				<resources />
				<properties />
				<values >
					<value target='Channel_Count' data='008' />
					<value target='pin0' data='$PORTB.0' />
					<value target='pin1' data='$PORTB.1' />
					<value target='pin2' data='$PORTB.2' />
					<value target='pin3' data='$PORTB.3' />
					<value target='pin4' data='$PORTB.4' />
					<value target='pin5' data='$PORTB.5' />
					<value target='pin6' data='$PORTB.6' />
					<value target='pin7' data='$PORTB.7' />
					<value target='Peripherals' data='PWM0 + PWM1 + Timer1' />
					<value target='TrimMode' data='000' />
					<value target='trim0' data='000' />
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