'{$STAMP BS2}
'{$PBASIC 2.0}
'example for controlling motor to run at reduced speeds
'J. Forkin, 3210 shadyway Drive, Pittsburgh, PA 15227, wa3tfs@arrl.net
'copy and modify as required, routines control motor1 only, modify for motor2
'code only works with TFS-2 interface board available at above address
'details on this and other boards on http://www.geocities.com/jimforkin2003/
'**********************************************************************
'place sensors, switches, relay contracts, etc in place of these buttons
'code is selected whenever input is pulled low
'inputs should be pulled high to +5vdc via a 1k to 4.7k resistor
'***********************************************************************
strt:
IF IN3 = 0 THEN  clockwise1    'look for button press on in3
IF IN4 = 0 THEN  clockwise2    'look for button press on in4
IF IN0 = 0 THEN  clockwise     'look for button press on in0
IF IN2 = 0 THEN  mtrcw1stop    'look for button press on in2 to stop
GOTO strt                      'look at buttons again
'***********************************************************************
'this routine runs motor1 at full speed
'once commanded, the motor will continue until told to stop
clockwise:    'makes motor1 rotate clockwise

    LOW 14    'set t2 off
    HIGH 13   'set t3 off [inverse logic]
    HIGH 12   'set t4 on
    LOW 15    'set t1 on [inverse logic]
RETURN
'***********************************************************************
'this routine runs motor1 at slightly reduced speed about 20%
clockwise1:    'makes motor1 rotate clockwise

    LOW 14    'set t2 off
    HIGH 13   'set t3 off [inverse logic]
    HIGH 12   'set t4 on
    LOW 15    'set t1 on [inverse logic]
  PAUSE 20
'mtrcw1stop:  'stops motor1 from turning when in clockwise movement
     LOW 12
     HIGH 15
  PAUSE 20    'change this value to set motor speed, higher = slower
RETURN
'***********************************************************************
'this routine runs motor1 at a more reduced rate about 30%
clockwise2:    'makes motor1 rotate clockwise

    LOW 14    'set t2 off
    HIGH 13   'set t3 off [inverse logic]
    HIGH 12   'set t4 on
    LOW 15    'set t1 on [inverse logic]
  PAUSE 20
'mtrcw1stop:  'stops motor1 from turning when in clockwise movement
     LOW 12
     HIGH 15
  PAUSE 75    'change this value to set motor speed, higher = slower
RETURN
'***********************************************************************
'this subroutine stops motor when it is running at full speed.
mtrcw1stop:  'stops motor1 from turning when in clockwise movement
     LOW 12
     HIGH 15
RETURN