'This program is a simple example of using the OOPic
'to control a Gamoto, over the serial line
'
'It cycles the position setpoint from 0 to 254 and back to 0
'again, and repeats.
'
'This example doesn't read any data from the Gamoto, not even
'the "ACK" response, but this could easily be added, to confirm
'the command was received.

const Header = &HAA	'Gamoto serial header byte
const setPosition = 47	'Gamoto register address
const mPosition = 51	'Gamoto register address

dim Serial as new oSerialx  	'Serial output can be on any pin
dim i as byte			'looping index
dim cs as byte 			'checksum byte

sub Main()
  oopic.delay = 200
  serial.IOlineS = 8		'Connect this send line to Gamoto RX pin
  serial.IOlineF = 0  		'disable flow control
  Serial.baud = cv19200		'19200 baud
  serial.operate = cvTrue
 do
  for i = 0 to 254
    cs = 4 + setPosition + i	'Calculate checksum
    'Serial protocol: HEADER + LEN + REGISTER_ADDRESS + DATA_lsb + DATA_mid + DATA_msb + CHECKSUM
    Serial.string = chr$(Header) + chr$(4) + chr$(setPosition) + chr$(i) + chr$(0) + chr$(0) + chr$(cs)
  next i
  for i = 255 to 1 step -1
    cs = 4 + setPosition + i
    'Serial protocol: HEADER + LEN + REGISTER_ADDRESS + DATA_lsb + DATA_mid + DATA_msb + CHECKSUM
    Serial.string = chr$(Header) + chr$(4) + chr$(setPosition) + chr$(i) + chr$(0) + chr$(0) + chr$(cs)
  next i
 loop
end sub