#include "Main.h"

void OperatorControl ( void )
{
      char rampstop; 
      unsigned char joystick_y; 
      unsigned char rampstopturn; 
      unsigned char joystick_x; 

      while ( 1==1 )
      {
            joystick_y = GetOIAInput ( 1 , 2 ) ;
            joystick_x = GetOIAInput ( 1 , 1 ) ;
            if ( rampstop==1 )
            {
                  ramp ( joystick_y ) ;
            }
            else if ( joystick_x>127 || joystick_x<127 )
            {
                  turnramp ( joystick_x ) ;
            }
            else
            {
                  drive ( joystick_y, joystick_x ) ;
            }
            if ( joystick_y == 127 )
            {
                  rampstop = 1 ;
            }
            else
            {
                  rampstop = 0 ;
            }
      }




#include "Main.h"

void drive ( unsigned char joystick_y, unsigned char joystick_x )
{
      if ( joystick_y!=127 )
      {
            SetPWM ( 1 , joystick_y ) ;
            SetPWM ( 2 , joystick_y ) ;
      }
      else if ( joystick_x!= 127&&joystick_x<127 )
      {
            SetPWM ( 1 , 127 ) ;
            SetPWM ( 2 , joystick_x ) ;
      }
      else if ( joystick_x !=127&&joystick_x>127 )
      {
            SetPWM ( 1 , joystick_x ) ;
            SetPWM ( 2 , 127 ) ;
      }
      else
      {
            SetPWM ( 1 , 127 ) ;
            SetPWM ( 2 , 127 ) ;
      }
}

}


#include "Main.h"

void ramp ( unsigned char joystick_y )
{
      int rampup; 
      unsigned int rampspeed; 

      if ( joystick_y>126 && joystick_y<128 )
      {
            SetPWM ( 1 , 127 ) ;
            SetPWM ( 2 , 127 ) ;
      }
      if ( joystick_y>127 )
      {
            rampspeed = 127 ;
            for ( rampup = 0 ; rampup<=joystick_y ; rampup=rampup+20 )
            {
                  SetPWM ( 1 , rampspeed+=30 ) ;
                  SetPWM ( 2 , rampspeed+=30 ) ;
            }
      }
      else if ( joystick_y<127 )
      {
            rampspeed = 127 ;
            for ( rampup = 0 ; rampup>=joystick_y ; rampup = rampup-20 )
            {
                  SetPWM ( 1 , rampspeed-=30 ) ;
                  SetPWM ( 2 , rampspeed-=30 ) ;
            }
      }
}


#include "Main.h"

void turnramp ( unsigned char joystick_x )
{
      int rampup; 
      unsigned int rampspeed; 

      if ( joystick_x>127 )
      {
            rampspeed = 127 ;
            for ( rampup = 0 ; rampup<=joystick_x ; rampup++ )
            {
                  SetPWM ( 1 , rampspeed+=10 ) ;
                  SetPWM ( 2 , rampspeed+=10 ) ;
            }
      }
      else if ( joystick_x<127 )
      {
            rampspeed = 127 ;
            for ( rampup = 0 ; rampup>=joystick_x ; rampup -- )
            {
                  SetPWM ( 1 , rampspeed-=10 ) ;
                  SetPWM ( 2 , rampspeed-=10 ) ;
            }
      }
}