/************************************************************************

	Controls the Serial port on the Jackrabbit, and sends quadrature
results
	and whatnot in order to 

*************************************************************************/


int LQuad;	//Used to store the last quadrature value.


// General use milli-sec delay function
nodebug
void msDelay(unsigned int delay)
{
	auto unsigned long done_time;
	
	done_time = MS_TIMER + delay;
   while( (long) (MS_TIMER - done_time) < 0 );
}




void cls ()
{       
   printf ( " \x1Bt" );            	// Space Opens Window   
}


int readQuadrature (){
	//This function returns + if rolling fwd, - if rolling backwd.
	int quad,motion;
	motion=0;
	quad=RdPortI(PBDR)&3; //Just the lower 3 bits.
	if (quad==LQuad) return 0; //no change, so get the hell outta here.
	while (quad!=LQuad){
		//printf ("[%d]",quad);
		if ((LQuad==3)&&(quad==2)) 
			motion++;
		else if ((LQuad==2)&&(quad==3)) 
			motion--;
		else if ((LQuad==3)&&(quad==2)) 
			motion++;
		else if ((LQuad==2)&&(quad==0)) 
			motion++;
		else if ((LQuad==0)&&(quad==2)) 
			motion--;
		else if ((LQuad==0)&&(quad==1)) 
			motion++;
		else if ((LQuad==1)&&(quad==3)) 
			motion++;
		else if ((LQuad==1)&&(quad==0)) 
			motion--;
		else if ((LQuad==3)&&(quad==1)) 
			motion--;
			
		LQuad=quad;
		quad=RdPortI(PBDR)&3; //Just the lower 3 bits.
		
	}//while quad!=LQuad
	return motion;
}


void main()
{
	int temp,but1,but2;
	
	temp=serBopen(9600);

	if (temp)printf("Opened at chosen baud\n");
	else printf("Failed to open at chosen baud\n");

	serBflowcontrolOff();
	serBdatabits (PARAM_8BIT);
	serBparity (PARAM_NOPARITY);
		
   for (;;){

   	//First we read the quadrature input...   
		temp+=readQuadrature();

		//Next we check for over and under 4 ticks, to see if we have
		//moved.
		if (temp>=4){
			temp-=4;
			printf("]\n");
			serBputs("]\n");
		}
		if (temp<=-4){
			temp+=4;
			printf("[\n");
			serBputs("[\n");
		}

		//Next we check the button. Pin 2.
		if (!(RdPortI(PBDR)&4)){
			msDelay(50);	//debounce
			if (!((RdPortI(PBDR)&4))&&(!but1)){
				but1=1;
				printf (" \n");//send the select switch
output.
				serBputs(" \n");
			}
		}
		else but1=0;//Turn off the flag. The button is up.

		//Next we check the button. Pin 3.
		if (!(RdPortI(PBDR)&8)){
			msDelay(50);	//debounce
			if (!((RdPortI(PBDR)&8))&&(!but2)){
				but2=1;
				printf ("q\n");//send the select switch
output.
				serBputs("q\n");
			}
		}
		else but2=0;//Turn off the flag. The button is up.
   } //for ;;
	
	

}