'this simple code drives a servo
' a complete help of Annex32 can be found here
' https://cicciocb.com/annex32help/V1.442/
DIRECTION = 2 : STEPS = 15
LEFTLIMIT = 35: HOME = 4: RESET = 32: RIGHTLIMIT = 5 
HOMEpressed = 0: FAST = 90
pin.mode DIRECTION, output 'dir
pin.mode STEPS, output 'step
pin.mode HOME, input, pullup 'Home
pin.mode RESET, input, pullup 'Reset
pin.mode LEFTLIMIT, input, pullup 'Left limit sw
pin.mode RIGHTLIMIT, input, pullup 'Right limit sw
interrupt HOME, Home  'Home
interrupt RESET, Reset  'Reset
interrupt LEFTLIMIT,  Llimit  'Left limit sw
interrupt RIGHTLIMIT, Rlimit 'Right limit sw
timer0 100, getJOY
pwm.setup STEPS, OFF
freq_p = -1
wait

Home:
pause 40
if pin(HOME) = 1 then return
HOMEpressed = 1
if STEPS > 0 then dir = 0
if STEPS < 0 then dir = 1
print "HOME pressed"
return

Reset:
pause 40
if pin(RESET) = 1 then return
'RESETpressed = 1
HOMEpressed = 0
print "RESET pressed"
return

Llimit:
pause 40
if pin(LEFTLIMIT) = 1 then return
pwm.setup STEPS, OFF
print "HALT at LEFT limit"
return

Rlimit:
pause 40
if pin(RIGHTLIMIT) = 1 then return
pwm.setup STEPS, OFF
print "HALT at RIGHT limit"
return

getJOY:
v = adc(34)

' computes the
ratio = (v - 2048)/2048
if (HOMEpressed = 1) then
 freq = FAST 
else 
 freq = abs(ratio * 100)
 dir = ratio > 0
endif
pin(DIRECTION) = dir
'print ratio, freq
if (abs(ratio) < 0.1) then
  pwm.setup STEPS, OFF
else
  print STEPS
  if ((HOMEpressed=1) and (STEPS=0)) then pwm.setup STEPS, OFF

  if (freq_p <> freq) then
    pwm.setup STEPS, 1, 100, freq, 12
    freq_p = freq
  endif
end if

return