#include "Main.h"

void OperatorControl ( void )
{
      unsigned char joystick_1; 
      unsigned char joystick_2; 
      int rampspeed1; 
      int rampspeed2; 

      while ( 1==1 )
      {
            joystick_1 = GetOIAInput ( 1 , 2 ) ;
            joystick_2 = GetOIAInput ( 2 , 2 ) ;
            if ( joystick_1>130&&joystick_2>130 )
            {
                  rampspeed1=127 ;
                  rampspeed2=127 ;
                  while ( joystick_1!=rampspeed1&&joystick_2!=rampspeed2 )
                  {
                        SetPWM ( 1 , rampspeed1 ) ;
                        SetPWM ( 2 , rampspeed2 ) ;
                        rampspeed1 ++  ;
                        rampspeed2 ++  ;
                  }
            }
            else if ( joystick_1<123&&joystick_2<130 )
            {
                  rampspeed1=127 ;
                  rampspeed2=127 ;
                  while ( joystick_1!=rampspeed1&&joystick_2!=rampspeed2 )
                  {
                        SetPWM ( 1 , rampspeed1 ) ;
                        SetPWM ( 2 , rampspeed2 ) ;
                        rampspeed1 -- ;
                        rampspeed2 -- ;
                  }
            }
            else if ( joystick_1==rampspeed1&&joystick_2==rampspeed2 )
            {
                  SetPWM ( 1 , joystick_1 ) ;
                  SetPWM ( 2 , joystick_2 ) ;
            }
            else if ( joystick_1>130&&joystick_2<123 )
            {
                  SetPWM ( 1 , joystick_1 ) ;
                  SetPWM ( 2 , joystick_2 ) ;
            }
            else if ( joystick_1<123&&joystick_2>130 )
            {
                  SetPWM ( 1 , joystick_1 ) ;
                  SetPWM ( 2 , joystick_2 ) ;
            }
            else if ( joystick_1>130 )
            {
                  rampspeed1 = 127 ;
                  while ( joystick_1!=rampspeed1 )
                  {
                        SetPWM ( 1 , rampspeed1 ) ;
                        rampspeed1 ++  ;
                  }
            }
            else if ( joystick_2>130 )
            {
                  rampspeed2 = 127 ;
                  while ( joystick_2!=rampspeed2 )
                  {
                        SetPWM ( 2 , rampspeed2 ) ;
                        rampspeed2 ++ ;
                  }
            }
            else if ( joystick_1<123 )
            {
                  rampspeed1 = 127 ;
                  while ( joystick_1!=rampspeed1 )
                  {
                        SetPWM ( 1 , rampspeed1 ) ;
                        rampspeed1 -- ;
                  }
            }
            else if ( joystick_2<123 )
            {
                  rampspeed2 = 127 ;
                  while ( joystick_2!=rampspeed2 )
                  {
                        SetPWM ( 2 , rampspeed2 ) ;
                        rampspeed2 -- ;
                  }
            }
            else if ( joystick_1==rampspeed1 )
            {
                  SetPWM ( 1 , joystick_1 ) ;
            }
            else if ( joystick_2==rampspeed2 )
            {
                  SetPWM ( 2 , joystick_2 ) ;
            }
            else
            {
                  SetPWM ( 1 , 127 ) ;
                  SetPWM ( 1 , 127 ) ;
            }
      }
}