VERSION 5.00
Object = "{648A5603-2C6E-101B-82B6-000000000014}#1.1#0"; "MSCOMM32.OCX"
Object = "{F9043C88-F6F2-101A-A3C9-08002B2F49FB}#1.2#0"; "COMDLG32.OCX"
Object = "{5E9E78A0-531B-11CF-91F6-C2863C385E30}#1.0#0"; "MSFLXGRD.OCX"
Begin VB.Form frmMain 
   Caption         =   "Servo Script Interpreter rev1r0"
   ClientHeight    =   8190
   ClientLeft      =   165
   ClientTop       =   855
   ClientWidth     =   11640
   LinkTopic       =   "Form1"
   ScaleHeight     =   8190
   ScaleWidth      =   11640
   StartUpPosition =   3  'Windows Default
   Begin VB.Frame Frame6 
      Caption         =   "Position Adjust"
      Height          =   2535
      Left            =   1680
      TabIndex        =   38
      Top             =   4080
      Width           =   1815
      Begin VB.CommandButton cmdUpdate 
         Caption         =   "Update"
         Height          =   255
         Left            =   360
         TabIndex        =   44
         Top             =   2160
         Width           =   1095
      End
      Begin VB.HScrollBar hsAdj 
         Height          =   255
         LargeChange     =   90
         Left            =   240
         Max             =   900
         Min             =   -900
         SmallChange     =   9
         TabIndex        =   41
         Top             =   1080
         Width           =   1335
      End
      Begin VB.Label Label2 
         Caption         =   "Position"
         Height          =   255
         Left            =   600
         TabIndex        =   43
         Top             =   1800
         Width           =   615
      End
      Begin VB.Label lblPos 
         Alignment       =   2  'Center
         BackColor       =   &H00C0FFC0&
         Caption         =   "0"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   12
            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         Height          =   375
         Left            =   360
         TabIndex        =   42
         Top             =   1440
         Width           =   975
      End
      Begin VB.Label Label1 
         Alignment       =   2  'Center
         Caption         =   "Motor No:"
         Height          =   255
         Left            =   360
         TabIndex        =   40
         Top             =   720
         Width           =   975
      End
      Begin VB.Label lblMotor 
         Alignment       =   2  'Center
         BackColor       =   &H00C0C0FF&
         Caption         =   "0"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   13.5
            Charset         =   0
            Weight          =   400
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         Height          =   375
         Left            =   360
         TabIndex        =   39
         Top             =   240
         Width           =   975
      End
   End
   Begin VB.TextBox txtIn 
      Height          =   285
      Left            =   4560
      MultiLine       =   -1  'True
      TabIndex        =   36
      Top             =   7080
      Width           =   5775
   End
   Begin VB.Frame Frame5 
      Caption         =   "Edit"
      Height          =   1815
      Left            =   10440
      TabIndex        =   33
      Top             =   240
      Width           =   975
      Begin VB.CommandButton cmdDel 
         Caption         =   "Delete"
         Height          =   255
         Left            =   120
         TabIndex        =   35
         Top             =   1080
         Width           =   735
      End
      Begin VB.CommandButton cmdIns 
         Caption         =   "Insert"
         Height          =   255
         Left            =   120
         TabIndex        =   34
         Top             =   360
         Width           =   735
      End
   End
   Begin MSFlexGridLib.MSFlexGrid Grid 
      Height          =   6855
      Left            =   3840
      TabIndex        =   32
      Top             =   120
      Width           =   6495
      _ExtentX        =   11456
      _ExtentY        =   12091
      _Version        =   393216
      FixedCols       =   0
      AllowUserResizing=   1
   End
   Begin VB.Frame Frame4 
      Caption         =   "Stepping"
      Height          =   2535
      Left            =   240
      TabIndex        =   28
      Top             =   4080
      Width           =   1335
      Begin VB.CommandButton cmdWait 
         Caption         =   "Till Wait"
         Height          =   375
         Left            =   120
         TabIndex        =   37
         Top             =   1800
         Width           =   1095
      End
      Begin VB.CommandButton cmdGo 
         Caption         =   "Single Step"
         Height          =   375
         Left            =   120
         TabIndex        =   31
         Top             =   1320
         Width           =   1095
      End
      Begin VB.CheckBox chkStep 
         Caption         =   "Step"
         Height          =   195
         Left            =   240
         TabIndex        =   30
         Top             =   480
         Width           =   855
      End
      Begin VB.Label lblCounter 
         Alignment       =   2  'Center
         BackColor       =   &H00C0FFFF&
         Caption         =   "0"
         BeginProperty Font 
            Name            =   "MS Sans Serif"
            Size            =   12
            Charset         =   0
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         Height          =   375
         Left            =   240
         TabIndex        =   29
         Top             =   840
         Width           =   855
      End
   End
   Begin VB.Frame Frame2 
      Caption         =   "User Button"
      Height          =   3975
      Left            =   240
      TabIndex        =   5
      Top             =   0
      Width           =   3255
      Begin VB.Frame Frame3 
         Height          =   1935
         Left            =   240
         TabIndex        =   22
         Top             =   360
         Width           =   2655
         Begin VB.CommandButton cmdUser 
            BackColor       =   &H00C0C0FF&
            Caption         =   "0"
            Height          =   375
            Index           =   0
            Left            =   840
            MaskColor       =   &H00C0C0FF&
            TabIndex        =   27
            Top             =   360
            Width           =   495
         End
         Begin VB.CommandButton cmdUser 
            Caption         =   "1"
            Height          =   375
            Index           =   1
            Left            =   240
            TabIndex        =   26
            Top             =   840
            Width           =   495
         End
         Begin VB.CommandButton cmdUser 
            Caption         =   "2"
            Height          =   375
            Index           =   2
            Left            =   1440
            TabIndex        =   25
            Top             =   840
            Width           =   495
         End
         Begin VB.CommandButton cmdUser 
            Caption         =   "3"
            Height          =   375
            Index           =   3
            Left            =   840
            TabIndex        =   24
            Top             =   1320
            Width           =   495
         End
         Begin VB.CheckBox chkSticky 
            Caption         =   "Sticky"
            Height          =   255
            Left            =   1800
            TabIndex        =   23
            Top             =   240
            Width           =   735
         End
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "11"
         Height          =   375
         Index           =   11
         Left            =   2400
         TabIndex        =   13
         Top             =   3360
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "10"
         Height          =   375
         Index           =   10
         Left            =   1680
         TabIndex        =   12
         Top             =   3360
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "9"
         Height          =   375
         Index           =   9
         Left            =   960
         TabIndex        =   11
         Top             =   3360
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "8"
         Height          =   375
         Index           =   8
         Left            =   240
         TabIndex        =   10
         Top             =   3360
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "7"
         Height          =   375
         Index           =   7
         Left            =   2400
         TabIndex        =   9
         Top             =   2760
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "6"
         Height          =   375
         Index           =   6
         Left            =   1680
         TabIndex        =   8
         Top             =   2760
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "5"
         Height          =   375
         Index           =   5
         Left            =   960
         TabIndex        =   7
         Top             =   2760
         Width           =   495
      End
      Begin VB.CommandButton cmdUser 
         Caption         =   "4"
         Height          =   375
         Index           =   4
         Left            =   240
         TabIndex        =   6
         Top             =   2760
         Width           =   495
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   11
         Left            =   2640
         TabIndex        =   21
         Top             =   3240
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   10
         Left            =   1920
         TabIndex        =   20
         Top             =   3240
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   9
         Left            =   1200
         TabIndex        =   19
         Top             =   3240
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   8
         Left            =   480
         TabIndex        =   18
         Top             =   3240
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   7
         Left            =   2640
         TabIndex        =   17
         Top             =   2640
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   6
         Left            =   1920
         TabIndex        =   16
         Top             =   2640
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   5
         Left            =   1200
         TabIndex        =   15
         Top             =   2640
         Width           =   255
      End
      Begin VB.Label lblInd 
         BackColor       =   &H00000000&
         BorderStyle     =   1  'Fixed Single
         Height          =   135
         Index           =   4
         Left            =   480
         TabIndex        =   14
         Top             =   2640
         Width           =   255
      End
   End
   Begin VB.CommandButton cmdStop 
      Caption         =   "Stop"
      Height          =   495
      Left            =   1200
      TabIndex        =   4
      Top             =   6960
      Width           =   855
   End
   Begin VB.Frame Frame1 
      Height          =   450
      Left            =   0
      TabIndex        =   2
      Top             =   7680
      Width           =   11595
      Begin VB.Label lblSequence 
         Caption         =   "Label1"
         Height          =   210
         Left            =   120
         TabIndex        =   3
         Top             =   120
         Width           =   11235
      End
   End
   Begin MSComDlg.CommonDialog cDialog 
      Left            =   0
      Top             =   360
      _ExtentX        =   847
      _ExtentY        =   847
      _Version        =   393216
   End
   Begin VB.CommandButton cmdStart 
      Caption         =   "Start"
      Height          =   495
      Left            =   240
      TabIndex        =   1
      Top             =   6960
      Width           =   735
   End
   Begin VB.Timer tmrSequencer 
      Enabled         =   0   'False
      Interval        =   100
      Left            =   0
      Top             =   0
   End
   Begin VB.CommandButton cmdServoOFF 
      Caption         =   "Servo OFF"
      Height          =   495
      Left            =   2280
      TabIndex        =   0
      Top             =   6960
      Width           =   1215
   End
   Begin MSCommLib.MSComm MSComm1 
      Left            =   0
      Top             =   2505
      _ExtentX        =   1032
      _ExtentY        =   1032
      _Version        =   393216
      CommPort        =   6
      DTREnable       =   -1  'True
      RTSEnable       =   -1  'True
      BaudRate        =   115200
   End
   Begin VB.Menu mnuFile 
      Caption         =   "File"
      Begin VB.Menu mnuNew 
         Caption         =   "New"
      End
      Begin VB.Menu mnuOpen 
         Caption         =   "Open"
      End
      Begin VB.Menu mnuSave 
         Caption         =   "Save"
      End
      Begin VB.Menu mnuBye 
         Caption         =   "Bye"
      End
   End
   Begin VB.Menu mnuTest 
      Caption         =   "Test"
      Begin VB.Menu mnuServo 
         Caption         =   "Test Servo"
      End
   End
End
Attribute VB_Name = "frmMain"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit
Dim Timing, Motor, Pos, Speed As Integer
Dim Milestone As Integer
Dim ActiveFile As String
Dim Tmr As Integer
Dim OFile As Integer
Dim Rxd, DSR As Boolean
Dim TxReady, Tigil, Go As Boolean
Dim Dlay As Single


Dim Forptr, Stackptr As Integer
Dim execs, Sandali As Boolean
Dim Load As Boolean
Dim Lastrow As Integer
' Fine tune positions
Dim fmotor, fpos, fspeed As Integer




Private Sub cmdDel_Click()
Dim i As Integer
On Error GoTo OKlang
i = Grid.Row
Grid.RemoveItem (i)
OKlang:
Call FillNumber
Grid.Row = i
Grid.Col = 1
End Sub

Private Sub cmdGo_Click()
Sandali = True
Go = True
End Sub

Private Sub cmdIns_Click()
Dim i As Integer
Grid.CellBackColor = vbWhite
i = Grid.Row + 1
Grid.AddItem (""), i
Call FillNumber
Grid.Row = i
Grid.Col = 1
End Sub

Private Sub cmdServoOFF_Click()
Send (Chr(2) + "18" + "i00")
Send (Chr(2) + "27" + "i00")
End Sub

Private Sub cmdStop_Click()
Tigil = True
End Sub

Private Sub cmdUpdate_Click()
Dim iset As String
iset = "move("
Grid.Text = iset + Str(fmotor) + "," + Str(fpos) + "," + Str(fspeed) + ")"
var2(Grid.Row) = fpos
End Sub

Private Sub cmdUser_Click(index As Integer)

If index > 3 Then
    If lblInd(index).BackColor = vbBlack Then
        lblInd(index).BackColor = vbRed
        Bton(index) = True
        Else
        lblInd(index).BackColor = vbBlack
        Bton(index) = False
        End If
    End If

End Sub

Private Sub cmdUser_MouseDown(index As Integer, Button As Integer, Shift As Integer, X As Single, Y As Single)

If chkSticky.Value = 1 Then
    If index <= 3 Then
        If Bton(index) = True Then
            Bton(index) = False
            Else
            Bton(index) = True
            End If
        End If
        Else
        If index <= 3 Then Bton(index) = True
    End If
End Sub

Private Sub cmdUser_MouseUp(index As Integer, Button As Integer, Shift As Integer, X As Single, Y As Single)
If chkSticky.Value = 0 Then
    If index <= 3 Then Bton(index) = False
    End If
End Sub


Private Sub CmdStart_Click()
Dim Command, Pointer, mask As Integer
Dim PCounter As Integer
Dim Motor, Param As String
Dim Repeat, Tapos As Boolean
Dim rung, instruct As String
Dim i As Integer

'For i = 0 To 120
'    MotPos(i) = 1000
'    Next i

If ActiveFile = "" Then
    MsgBox "No open file!", vbCritical
    Exit Sub
    End If
cmdStart.Enabled = False

Tapos = False
Grid.Col = 1

For PCounter = 1 To Grid.Rows - 1


' compile source code
    Grid.Row = PCounter
    rung = Grid.Text
    ' remove leading white space
    
    opcode(PCounter) = &HFF                          ' default to NOP

    While Left(rung, 1) <= " " And rung <> ""
        rung = Right(rung, Len(rung) - 1)
        Wend

        
    If rung <> "" And Left(rung, 1) <> ";" Then     ' if not blank or comment
    ' find opening parentheses
        Pointer = 1
        While Mid(rung, Pointer, 1) <> "(" And Pointer < Len(rung)
            Pointer = Pointer + 1
            Wend

    ' extract instruction
        If Pointer = Len(rung) Then
            instruct = rung             ' instruction w/o parentheses
            Else
            instruct = Left(rung, Pointer - 1)
            End If
        
' move instruction
        If instruct = "move" Then
            opcode(PCounter) = 1
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            var1(PCounter) = Val(rung)
            Pointer = 1
            While Mid(rung, Pointer, 1) <> ","
                Pointer = Pointer + 1
                Wend
            rung = Right(rung, Len(rung) - Pointer)
            var2(PCounter) = Val(rung)
            Pointer = 1
            While Mid(rung, Pointer, 1) <> ","
                Pointer = Pointer + 1
                Wend
            rung = Right(rung, Len(rung) - Pointer)
            var3(PCounter) = Val(rung)
            End If
    ' wait instruction
        If instruct = "wait" Then
            opcode(PCounter) = 2
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            var1(PCounter) = Val(rung) * 10
            End If
            
    'servo instruction
        If instruct = "servo" Then
            opcode(PCounter) = 3
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            var1(PCounter) = Val(rung)
            Pointer = 1
            While Mid(rung, Pointer, 1) <> ","
                Pointer = Pointer + 1
                Wend
            rung = Right(rung, Len(rung) - Pointer)
            var2(PCounter) = Val(rung)
            End If
            
    'servo instruction
        If instruct = "for" Then
            opcode(PCounter) = 6
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            var1(PCounter) = Val(rung)
            End If
            
    'call instruction
        If instruct = "call" Then
            opcode(PCounter) = 8
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            var1(PCounter) = Val(rung)
            End If
            
    'sub instruction
        If instruct = "sub" Then
            opcode(PCounter) = 9
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            Subaddr(Val(rung)) = PCounter          'save this subroutine address
            End If
            
    'button instruction
        If instruct = "button" Then
            opcode(PCounter) = 11
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            var1(PCounter) = Val(rung)
            End If
            
    ' bend button end instruction
        If instruct = "bend" Then
            opcode(PCounter) = 12
            End If
            
    ' next instruction
        If instruct = "next" Then
            opcode(PCounter) = 7
            End If
            
    ' return instruction
        If instruct = "return" Then
            opcode(PCounter) = 10
            End If
            
    ' center instruction
        If instruct = "center" Then
            opcode(PCounter) = 13
            End If
            
    ' end instruction
        If instruct = "end" Then
            opcode(PCounter) = 0
            End If
          
        End If
    Next PCounter

           
' Execution Phase
Tigil = False
PCounter = 1
Forptr = 0
Stackptr = 0
execs = True
While Tigil = False
    If opcode(PCounter) = 0 Then
        PCounter = 0                    ' repeat program
        Forptr = 0
        Stackptr = 0
        End If
    DoEvents
    lblCounter.Caption = PCounter
    
    ' check if bend
    If opcode(PCounter) = 12 Then execs = True ' if bend is ecountered,execute all functions
    
    If execs = True Then
        'wait for Go key if single stepping
            
         ' single stepping
        If chkStep.Value = 1 Then Call ShowRow(PCounter)
        While (chkStep.Value = 1 And Go = False)
            DoEvents
            Wend
                
        Select Case opcode(PCounter)
            Case 1:
            Speed = var3(PCounter)
            Pos = (var2(PCounter) * 100 / 90) + 150
            ' 2 char string equivalent of motor number
            Motor = Str(var1(PCounter))
            Motor = Right("0" + Right(Motor, Len(Motor) - 1), 2)
            MotPos(var1(PCounter)) = var2(PCounter)                ' save last motor position

            
            If Speed > 0 Then
            
                Param = Right("0" + Hex(Speed + 128), 2)
                Send (Chr(2) + Motor + "s" + Param)
                End If

            Param = Right("0" + Hex(Pos), 2)
            Send (Chr(2) + Motor + "m" + Param)


        
            Case 2:
            ' wait instruction
            Dlay = Val(var1(PCounter))
            Tmr = 0
            tmrSequencer.Enabled = True
            Do
                DoEvents
                Loop Until tmrSequencer.Enabled = False

            If Sandali = False Then Go = False
    
            Case 3:
            'servo instruction

            Motor = Str(var1(PCounter))
            Motor = Right("0" + Right(Motor, Len(Motor) - 1), 2)
            Param = Right("0" + Hex(var2(PCounter)), 2)
            Send (Chr(2) + Motor + "i" + Param)

        
            Case 6:
            ' For Function
            Forptr = Forptr + 1
            Foraddr(Forptr) = PCounter        'save for return address
            Forval(Forptr) = var1(PCounter)     'save repeat varaiable

            Case 7:
            ' Next Function
            Forval(Forptr) = Forval(Forptr) - 1
        
            If Forval(Forptr) > 0 Then PCounter = Foraddr(Forptr) ' repeat loop
        
            Case 8:
            ' Call Function
            Stackptr = Stackptr + 1
            Stack(Stackptr) = PCounter          'save program counter to stack
            PCounter = Subaddr(var1(PCounter))  'goto subroutine

        
            Case 10:
            'Return
            PCounter = Stack(Stackptr)          'retrieve return address
            Stackptr = Stackptr - 1
            If Stackptr < 0 Then
                MsgBox "return without call!", vbCritical
                Exit Sub
                End If
                
            Case 11:
            'button function
            If Bton(var1(PCounter)) = True Then
                execs = True
                Else
                execs = False
                End If                          ' If button false, do not execute
                                                ' until bend is encountered
                                                
            Case 13:
            'Center servos
            Send (Chr(&HF3) + Chr(128))
            
            End Select
        If Sandali = True Then Go = False       ' single stepping
        End If
        
    PCounter = PCounter + 1
    Wend
    
    cmdStart.Enabled = True
End Sub



Private Sub cmdWait_Click()
Sandali = False
Go = True
End Sub

Private Sub Form_Load()

    
MSComm1.PortOpen = True
Grid.ColWidth(1) = 5000
CurrentDir = CurDir + "\settings.ini"

End Sub

Private Sub Frame2_DragDrop(Source As Control, X As Single, Y As Single)

End Sub

Private Sub Grid_KeyPress(KeyAscii As Integer)

    With Grid
        Select Case KeyAscii
            Case 8
                If Not .Text = "" Then
                    .Text = Left(.Text, Len(.Text) - 1)
                End If
            Case 13 ' Enter
                Call cmdIns_Click
            Case Else
                .Text = .Text & Chr(KeyAscii)
        End Select
    End With
    txtIn.Text = Grid.Text
End Sub


Private Sub Grid_EnterCell()
Dim rung, instruct As String
Dim Pointer As Integer

If Load = False Then
'    Grid.Col = 1
    Grid.CellBackColor = vbYellow
    rung = Grid.Text
    txtIn.Text = Grid.Text
    cmdUpdate.Enabled = False
    While Left(rung, 1) <= " " And rung <> ""
        rung = Right(rung, Len(rung) - 1)
        Wend
        
    If rung <> "" And Left(rung, 1) <> ";" Then     ' if not blank or comment
    ' find opening parentheses
        Pointer = 1
        While Mid(rung, Pointer, 1) <> "(" And Pointer < Len(rung)
            Pointer = Pointer + 1
            Wend

    ' extract instruction
        If Pointer = Len(rung) Then
            instruct = rung             ' instruction w/o parentheses
            Else
            instruct = Left(rung, Pointer - 1)
            End If
        
' move instruction
        If instruct = "move" Then
            rung = Right(rung, Len(rung) - Pointer) ' extract variables
            fmotor = Val(rung)
            lblMotor.Caption = fmotor
            Pointer = 1
            While Mid(rung, Pointer, 1) <> ","
                Pointer = Pointer + 1
                Wend
            rung = Right(rung, Len(rung) - Pointer)
            fpos = Val(rung)
            lblPos.Caption = fpos
            hsAdj.Value = fpos * 10
            Pointer = 1
            While Mid(rung, Pointer, 1) <> ","
                Pointer = Pointer + 1
                Wend
            rung = Right(rung, Len(rung) - Pointer)
            fspeed = Val(rung)
            cmdUpdate.Enabled = True
        End If
    End If
End If
End Sub

Private Sub Grid_LeaveCell()
If Load = False Then
'    Grid.Col = 1
    Grid.CellBackColor = vbWhite
    End If
End Sub

Private Sub hsAdj_Change()
Dim Position As Single
Dim Mstring As String
If chkStep.Value = 1 Then
    lblPos.Caption = hsAdj.Value / 10
    fpos = Val(lblPos.Caption)
    Position = (fpos * 100 / 90) + 150
    Mstring = Right("0" + lblMotor.Caption, 2)
    Send (Chr(2) + Mstring + "m" + Hex(Position))
    End If
End Sub

Private Sub mnuBye_Click()
MSComm1.PortOpen = False
End
End Sub

Private Sub mnuNew_Click()
Dim answer As Integer

answer = MsgBox("This will discard the program currently loaded! Are you sure you want to do this?", vbOKCancel, "New Program")
If answer = vbOK Then
    Grid.Clear
    Grid.Rows = 2
    End If
    
End Sub

Private Sub mnuOpen_Click()

Dim i As Integer
Dim OFile As Integer
Dim rung As String

cDialog.Filter = "Sequence *.seq|*.seq"
cDialog.ShowOpen
On Error GoTo ByeFile
ActiveFile = cDialog.FileName
lblSequence.Caption = "Current Sequence : " + ActiveFile

Grid.Clear
Grid.Rows = 1
OFile = FreeFile(0)

Open ActiveFile For Input As #OFile

i = 1

' compile source code

Load = True
While Not EOF(OFile)
    Line Input #OFile, rung
'    Grid.Row = i
'    Grid.Text = rung
    Grid.AddItem ("")
    Grid.Row = Grid.Rows - 1
    Grid.Col = 0
    Grid.Text = Grid.Row
    Grid.Col = 1
    Grid.Text = rung
    Wend
Load = False
Close #OFile
Exit Sub
ByeFile:
    Load = False
    MsgBox "File Access Error", vbExclamation
    Close #OFile
End Sub

Private Sub mnuSave_Click()
Dim SFile As Integer
Dim i As Integer

cDialog.Filter = "Sequence *.seq|*.seq"
cDialog.ShowSave
On Error GoTo Male
ActiveFile = cDialog.FileName
lblSequence.Caption = "Current Sequence : " + ActiveFile

OFile = FreeFile(0)

Load = True
Open ActiveFile For Output As #OFile

Grid.Col = 1

For i = 1 To Grid.Rows - 1
    Grid.Row = i
    Print #OFile, Grid.Text
    Next i

Close #OFile
Load = False
Exit Sub

Male:
    Load = False
    MsgBox "File error occurred!", vbCritical
End Sub

Private Sub mnuServo_Click()
frmServo.Show
End Sub


Private Sub tmrSequencer_Timer()
Tmr = Tmr + 1
If Tmr >= Dlay Then tmrSequencer.Enabled = False
End Sub

Public Function Send(S As String)
Dim test As String
Dim Checksum As Integer
Dim i As Integer

Checksum = 0
For i = 1 To Len(S)
    Checksum = Checksum + Asc(Mid(S, i, 1))
    Next i
    
    Checksum = Checksum And &HFF
    Checksum = Checksum Or &H80
    MSComm1.Output = S + Chr(Checksum)

    test = MSComm1.Input
Do
    DoEvents
    test = MSComm1.Input
    If test = Chr(4) Then
        Print "Checksum Error"
        End If
    Loop Until test = Chr(3)
    
End Function


Public Sub FillNumber()
' Fill first column with line numbers
Dim i As Integer
    Load = True
    Grid.Col = 0
For i = 1 To Grid.Rows - 1
    Grid.Row = i
    Grid.Text = i
    Next i
    Load = False
End Sub

Private Sub txtIn_Change()
'Reflect changes to grid
Grid.Text = txtIn.Text
End Sub

Private Sub txtIn_KeyPress(KeyAscii As Integer)
' If enter is pressed, insert and go to new line
If KeyAscii = 13 Then
    Call cmdIns_Click
    KeyAscii = 0            'do not use ENTER
    End If
End Sub

Public Sub ShowRow(PCounter As Integer)
If PCounter - Grid.TopRow > 20 Then Grid.TopRow = PCounter
If Grid.TopRow - PCounter > 20 Then Grid.TopRow = PCounter
Grid.Row = PCounter
End Sub