'Dennis's caster program 1.0
'This program should make a caster wheel go in and out of the bot

'-------------------Constants---------------------------------------------- 
'Global
ON				con	1	'These are Global constants that I use to tell if the sensor is activated or not.
OFF				con	0	
MOTOR_STOP			con	127	'Sets the motor to idle.
'Local
C_CAST_SWITCH_UP		con	1	'These are the constants that I use to say the difference between the two switch position on the caster.
C_CAST_SWITCH_DOWN	con	0
C_CAST_REV			con	30	'Sets the motor to reverse.
C_CAST_FWD			con	225	'Sets the motor to forward.

'------------------Inputs and Outputs-----------------------------------------------
'Inputs
inp_cast_tog_switch	var	bit	'This part stores if the switch is up or down   (port2  pin2 ).
inp_cast_sensor_up	var	bit	'This part stores if the sensor up is on    (digital 15 ).
inp_cast_sensor_down	var	bit	'This part stores if the sensor down is on   (digital 18 ).

'Outputs
out_cast			var	byte	'This part stores what the motor does   (pwm 7).

'-------------------------Grabber Main Program-----------------------------------------------------
caster_main:
	if (inp_cast_tog_switch = C_CAST_SWITCH_UP) then caster_up	'This part checks if the switch is up or down.

	if (inp_cast_sensor_down = OFF) then caster_move_down		'This part checks if sensor down senses anything.
	out_cast = MOTOR_STOP						'This part stops the motor.
	return									'This returns to the Main program. 
 
caster_up:
	if (inp_cast_sensor_up = OFF) then caster_move_up		'This part checks if sensor up senses anything.
	out_cast = MOTOR_STOP
	return

caster_move_up:
	out_cast = C_CAST_REV		'This part runs the motor reverse
	return

caster_move_down:
	out_cast = C_CAST_FWD		'This part runs the motor forward
	return

'This program makes the Reader cry.  The good kind of crying (Times 2).