joystick var word									'declaration for joystick RCTIME variable and position of the SmartMotor variable
position var word

serout 1,16468,["O=0",13]							'send out serial command through pin 1 at 9600 baud to motor to set origin at its current position

											'13 is the ASCII character for return
check:										'CHECK function to determine where the joystick and the motor are
	high 5									'initialize pin 5 to HIGH (off) for RCTIME purposes
	low 2										'initialize pin 2 to LOW (5V) for RCTIME purposes
	pause 10									'wait 10 milliseconds for capacitor to get charged for RCTIME purposes
	rctime 5,1,joystick
	'serout 4,16468,["RP",13]						'send out serial command through pin 4 at 9600 baud to motor to RP (Report Position)
	'serin 5,16468,[position]						'receive serially through pin 5 the position of the motor
	debug dec ? joystick							'display the joystick RCTIME resistance position onto the screen
	if joystick=1 then clockwise						'IF statements to turn either counter-clockwise/clockwise depending where the joystick is
	if joystick>1000 then counterclockwise
	goto nothing								'goto NOTHING function if the joystick is centered
goto check										'repeat CHECK function forever

nothing:										'NOTHING function to shut down motor if joystick centered
	serout 1,16468,["OFF",13]
goto check										'go back to CHECK where the joystick is

clockwise:										'CLOCKWISE function to move motor clockwise at 900,0000 counts/sample at 400 acceleration
	serout 1,16468,["MV",13,"V=900000",13,"A=400",13,"G",13]	
goto check										'go back to CHECK where the joystick is

counterclockwise:									'COUNTERCLOCKWISE function to move motor counterclockwise at 900,0000 counts/sample at 400 acceleration
	serout 1,16468,["MV",13,"V=-900000",13,"A=400",13,"G",13]
goto check										'go back to CHECK where the joystick is