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'                      MD03 Example Test Routine
'  This program sets up and initialises an oI2C object called MD03
'  It then goes into an endless loop, accelerating the motor to maximum 
'  forward speed, then decellerating it through zero to a slow reverse speed.
'  It uses address 0xB0, which can be changed with the following;
'  MD03.Node = 88             'Decimal of Hex address 0xB0 shifted right by 1
'  MD03.Node = 89             'Decimal of Hex address 0xB2 shifted right by 1
'  MD03.Node = 90             'Decimal of Hex address 0xB4 shifted right by 1
'  MD03.Node = 91             'Decimal of Hex address 0xB6 shifted right by 1
'  MD03.Node = 92             'Decimal of Hex address 0xB8 shifted right by 1
'  MD03.Node = 93             'Decimal of Hex address 0xBA shifted right by 1
'  MD03.Node = 94             'Decimal of Hex address 0xBC shifted right by 1
'  MD03.Node = 95             'Decimal of Hex address 0xBE shifted right by 1
'
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Dim MD03 As New oI2C          'Create the MD03 object
Dim Status As New oByte       'Hold status reg from MD03

Sub main()                    'Start of main program
  MD03.Node = 88              'Decimal of Hex address 0xB0 shifted right by 1
  MD03.Mode = cv10bit         'I2C mode is 10-Bit Addressing.
  MD03.NoInc = 1              'Don't increment
  MD03.Location = 3           'Address of accel reg
  MD03 = 254                  'Gentle acceleration
 
  While(1)
    MD03.Location = 2         'Address of speed reg
    MD03 = 243                'Fast speed   
    MD03.Location = 0         'Address of command reg
    MD03 = 1                  'Run motor forwards
    Do
      MD03.Location = 1       'Address of status reg
      Status = MD03
      Status = Status And 1   'Onlt bit 0 is required
    Loop While(Status = 1)    'Wait for Acceleration to complete

    MD03.Location = 2         'Address of speed reg
    MD03 = 30                 'Slow speed   
    MD03.Location = 0         'Address of command reg
    MD03 = 2                  'Run motor backwards
    Do
      MD03.Location = 1       'Address of status reg
      Status = MD03
      Status = Status And 1   'Onlt bit 0 is required
    Loop While(Status = 1)    'Wait for Acceleration to complete
  Wend
End Sub