// connection NXT program for HSP3
// programed by takuya matsubara
// http://nicotak.com

// txtファイルをNXTへ送信します

#uselib "nxtdll.dll"
#cfunc nxtopen    "nxtopen"    nullptr          
#cfunc nxtcommand "nxtcommand" var,int,var,int	
#cfunc nxtwritefile "nxtwritefile" var,var,int
#cfunc nxtreadfile "nxtreadfile" var,var,int	
#cfunc nxtdeletefile "nxtdeletefile" var	
#cfunc nxtclose   "nxtclose"   nullptr          

	sdim filedata,1000
	sdim filename,13
	sdim cr,3
	poke cr, 0, 13   // CR
	poke cr, 1, 10   // LF
	poke cr, 2, 0    // NULL

	filename = "program.txt"

	ret = nxtopen()
	if(ret < 0){
		dialog "connection failed":end
	}

//  #define MOTORSPEED (-30)
//	motorpow = MOTORSPEED
//	gosub *setmotor
//	print "PortA Motor ON"
//	wait 300 

//	motorpow = 0
//	gosub *setmotor
//	print "PortA Motor Stop"
//	wait 300

	gosub *deletetxtfile
	gosub *writetxtfile
//	gosub *readtxtfile

	ret = nxtclose()

end

//-------------------------
*writetxtfile
	filedata = ""
	filedata = filedata + "START" + cr
	filedata = filedata + "IF_DETECT_LINE 3" + cr
	filedata = filedata + "FOW" + cr
	filedata = filedata + "TURN_RIGHT" + cr
	filedata = filedata + "GOOL" + cr
	filesize = strlen(filedata)

	ret = nxtwritefile(filename,filedata,filesize)
	dialog "write file "+strlen(filedata)+"bytes"
	return

//-------------------------
*readtxtfile
	filedata = ""

	ret = nxtreadfile(filename,filedata,1000)

	print filedata
	dialog "read file "+strlen(filedata)+"bytes"	
	return
//-------------------------
*deletetxtfile
	ret = nxtdeletefile(filename)
	dialog "delete file"
	return

//------------------directcommand
*setmotor

#define TXCNT 11
#define RXCNT 2
	sdim txbuf,TXCNT+1
	sdim rxbuf,RXCNT+1

	poke txbuf, 0, 4    // SETOUTPUTSTATE 
	poke txbuf, 1, 0    // Output Port(0 - 2)
	poke txbuf, 2, motorpow    // Power set point(-100 - 100)
	poke txbuf, 3, 1+2  // Mode byte(1=Motor on / 2=Brake / 4=Regulated)
	poke txbuf, 4, 0    // Regulation mode(0=No ragulation / 1=Control speed / 2=Motor sync)
	poke txbuf, 5, 0    // Turn ratio(-100 - 100)
	poke txbuf, 6, 0x20 // Run state(0x00=Idle / 0x10=Ramp up / 0x20=Running / 0x30=Ramp down)
	poke txbuf, 7, 0    // Tacho Limit
	poke txbuf, 8, 0
	poke txbuf, 9, 0
	poke txbuf,10, 0

	ret = nxtcommand(txbuf,TXCNT,rxbuf,RXCNT)
	
	return