VERSION 5.00
Object = "{648A5603-2C6E-101B-82B6-000000000014}#1.1#0"; "MSCOMM32.OCX"
Begin VB.Form frmMain 
   Caption         =   "Pololu 8-Servo Controller"
   ClientHeight    =   3825
   ClientLeft      =   60
   ClientTop       =   345
   ClientWidth     =   5970
   LinkTopic       =   "Form1"
   ScaleHeight     =   3825
   ScaleWidth      =   5970
   StartUpPosition =   3  'Windows Default
   Begin VB.CommandButton cmdZero 
      Caption         =   "Zero"
      Height          =   495
      Left            =   5040
      TabIndex        =   28
      Top             =   1560
      Width           =   615
   End
   Begin MSCommLib.MSComm MSComm1 
      Left            =   2280
      Top             =   -240
      _ExtentX        =   1005
      _ExtentY        =   1005
      _Version        =   393216
      DTREnable       =   -1  'True
   End
   Begin VB.CommandButton cmdOnOff 
      Caption         =   "On"
      Height          =   255
      Left            =   1440
      TabIndex        =   27
      Top             =   0
      Width           =   735
   End
   Begin VB.TextBox txtPort 
      Height          =   285
      Left            =   600
      TabIndex        =   17
      Text            =   "1"
      Top             =   0
      Width           =   735
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   7
      LargeChange     =   25
      Left            =   4440
      Max             =   5500
      Min             =   500
      TabIndex        =   14
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   6
      LargeChange     =   25
      Left            =   3840
      Max             =   5500
      Min             =   500
      TabIndex        =   12
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   5
      LargeChange     =   25
      Left            =   3240
      Max             =   5500
      Min             =   500
      TabIndex        =   10
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   4
      LargeChange     =   25
      Left            =   2640
      Max             =   5500
      Min             =   500
      TabIndex        =   8
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   3
      LargeChange     =   25
      Left            =   1920
      Max             =   5500
      Min             =   500
      TabIndex        =   6
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   2
      LargeChange     =   25
      Left            =   1320
      Max             =   5500
      Min             =   500
      TabIndex        =   4
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   1
      LargeChange     =   25
      Left            =   720
      Max             =   5500
      Min             =   500
      TabIndex        =   2
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.VScrollBar scrChannel 
      Height          =   2175
      Index           =   0
      LargeChange     =   25
      Left            =   120
      Max             =   5500
      Min             =   500
      TabIndex        =   0
      Top             =   720
      Value           =   3000
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   0
      Left            =   120
      TabIndex        =   36
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   1
      Left            =   720
      TabIndex        =   35
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   2
      Left            =   1320
      TabIndex        =   34
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   3
      Left            =   1920
      TabIndex        =   33
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   4
      Left            =   2640
      TabIndex        =   32
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   5
      Left            =   3240
      TabIndex        =   31
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   6
      Left            =   3840
      TabIndex        =   30
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblPct 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   7
      Left            =   4440
      TabIndex        =   29
      Top             =   3240
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   7
      Left            =   4440
      TabIndex        =   26
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   6
      Left            =   3840
      TabIndex        =   25
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   5
      Left            =   3240
      TabIndex        =   24
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   4
      Left            =   2640
      TabIndex        =   23
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   3
      Left            =   1920
      TabIndex        =   22
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   2
      Left            =   1320
      TabIndex        =   21
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   1
      Left            =   720
      TabIndex        =   20
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label lblValue 
      Alignment       =   2  'Center
      Caption         =   "-"
      Height          =   255
      Index           =   0
      Left            =   120
      TabIndex        =   19
      Top             =   3000
      Width           =   495
   End
   Begin VB.Label Label2 
      Alignment       =   2  'Center
      Caption         =   "make sure J1 is open (no shorting block)"
      Height          =   255
      Left            =   120
      TabIndex        =   18
      Top             =   3480
      Width           =   2895
   End
   Begin VB.Label Label1 
      Caption         =   "Port"
      Height          =   255
      Left            =   120
      TabIndex        =   16
      Top             =   120
      Width           =   495
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "7"
      Height          =   255
      Index           =   7
      Left            =   2760
      TabIndex        =   15
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "6"
      Height          =   255
      Index           =   6
      Left            =   2400
      TabIndex        =   13
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "5"
      Height          =   255
      Index           =   5
      Left            =   2040
      TabIndex        =   11
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "4"
      Height          =   255
      Index           =   4
      Left            =   1680
      TabIndex        =   9
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "3"
      Height          =   255
      Index           =   3
      Left            =   1200
      TabIndex        =   7
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "2"
      Height          =   255
      Index           =   2
      Left            =   840
      TabIndex        =   5
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "1"
      Height          =   255
      Index           =   1
      Left            =   480
      TabIndex        =   3
      Top             =   480
      Width           =   255
   End
   Begin VB.Label lblChannel 
      Alignment       =   2  'Center
      Caption         =   "0"
      Height          =   255
      Index           =   0
      Left            =   120
      TabIndex        =   1
      Top             =   480
      Width           =   255
   End
End
Attribute VB_Name = "frmMain"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Private Declare Sub Sleep Lib "kernel32" (ByVal dwMilliseconds As Long)
Private Sub Form_Load()
   txtPort.Text = MSComm1.CommPort
End Sub


Private Sub cmdOnOff_Click()
   If cmdOnOff.Caption = "Off" Then
      If MSComm1.PortOpen = True Then
         MSComm1.PortOpen = False
      End If
      MSComm1.CommPort = txtPort.Text
      cmdOnOff.Caption = "On"
   Else
      If MSComm1.PortOpen = True Then
         MSComm1.PortOpen = False
      End If
      MSComm1.PortOpen = True
      cmdOnOff.Caption = "Off"
   End If
End Sub


Private Sub scrChannel_Change(Index As Integer)
   ' convert it from it's true value into a +- 100.00 value
   Dim val As Double
   val = (scrChannel(Index).value - scrChannel(Index).Min) / (scrChannel(Index).Max - scrChannel(Index).Min)
   val = val * 2 - 1
   lblValue(Index).Caption = scrChannel(Index).value
   lblPct(Index).Caption = FormatNumber(val * 100, 3)
   SendPololu Index, scrChannel(Index).value
End Sub


Private Function SendPololu(num As Integer, value As Integer)
   ' num is 0-7
   ' value is 500-5500
   ' dec2hex(Asc(Mid(cmd, 1, 1))) & "." & dec2hex(Asc(Mid(cmd, 2, 1))) & "." & dec2hex(Asc(Mid(cmd, 3, 1))) & "." & dec2hex(Asc(Mid(cmd, 4, 1))) & "." & dec2hex(Asc(Mid(cmd, 5, 1))) & "." & dec2hex(Asc(Mid(cmd, 6, 1)))

   If MSComm1.PortOpen = True Then
      cmd = Chr(&H80)      ' start byte   - 0x80 ' always
      cmd = cmd & Chr(&H1) ' Device ID    - 0x01 ' always
      cmd = cmd & Chr(&H4) ' command      - 0x04 ' we want command 4: Set Position, Absolute (2 data bytes)
      cmd = cmd & Chr(num) ' servo num    - 0x.. ' 00-07
      
      ' data1        - 0x.. ' upper 7 bits - range is 500 throguh 5500
      ' data2        - 0x.. ' lower 7 bits
      strbinary = "0000000000000000" & dec2bin(value)
      lsb = "0" & Mid(strbinary, Len(strbinary) - 6)
      msb = "0" & Mid(strbinary, Len(strbinary) - 12, 6)
      
      cmd = cmd & Chr(bin2dec(msb))
      cmd = cmd & Chr(bin2dec(lsb))
      
      MSComm1.Output = cmd & vbNewLine
      Sleep 60
      DoEvents
   End If
End Function


Private Sub cmdZero_Click()
   Dim i As Integer
   For i = scrChannel.LBound To scrChannel.ubound
      scrChannel(i).value = scrChannel(i).Min + (scrChannel(i).Max - scrChannel(i).Min) / 2
      SendPololu i, scrChannel(i).value
   Next
End Sub



Function hex2dec(sHexStr) As Integer
   hex2dec = CLng("&H" & Trim(sHexStr))
End Function
Function dec2hex(val As Integer) As String
   dec2hex = Hex(val)
End Function
Function pad(val As String, Optional length As Integer = 1, Optional char As String = "0") As String
   ' pads a string with chars until len = length
   Do While Len(val) < length
      val = char & val
   Loop
   pad = val
End Function
Public Function dec2bin(mynum As Variant) As String
   ' from http://cuinl.tripod.com/Tips/decimaltobinary.htm
   Dim loopcounter As Integer
   If mynum >= 2 ^ 31 Then
      dec2bin = "Number too big"
      Exit Function
   End If
   Do
      If (mynum And 2 ^ loopcounter) = 2 ^ loopcounter Then
         dec2bin = "1" & dec2bin
      Else
         dec2bin = "0" & dec2bin
      End If
      loopcounter = loopcounter + 1
   Loop Until 2 ^ loopcounter > mynum
End Function
Private Function bin2dec(ByVal BinValue As String) As Long
   ' from http://cuinl.tripod.com/Tips/math5.htm
   Dim lngValue As Long
   Dim x As Long
   Dim k As Long
   k = Len(BinValue) ' will only work with 32 or fewer "bits"
   For x = k To 1 Step -1 ' work backwards down string
      If Mid$(BinValue, x, 1) = "1" Then
         If k - x > 30 Then ' bit 31 is the sign bit
            lngValue = lngValue Or -2147483648# ' avoid overflow error
         Else
            lngValue = lngValue + 2 ^ (k - x)
         End If
      End If
   Next x
   bin2dec = lngValue
End Function