'Inputs are as follows:
'
'
'OEMTRIG1 = Encoder Bit 1
'OEMTRIG2 = Encoder Bit 2
'OEMTRIG3 = Encoder Bit 3
'OEMTRIG4 = Encoder Bit 4
'OEMTRIG5 = Parity Bit
'OEMTRIG6 = Strobe1
'OEMTRIG7 = Strobe2
'OEMTRIG8 = Index Proximity Switch
'OEMTRIG9 = Lock Proximity Switch
'OEMTRIG10 = Door Switch
'
'
'Outputs are as follows:
'
'
'OUTPUT10 = Lock Solenoid
'
'

'If IsActive(OEMTRIG10) Then			'check Door state
'MsgBox("Close the Door")
'End If

					'Read the Encoder Bits
If IsActive(OEMTRIG1) Then
Bit1 = 1
Else
Bit1 = 0
End If

If IsActive(OEMTRIG2) Then
Bit2 = 1
Else
Bit2 = 0
End If
					
If IsActive(OEMTRIG3) Then
Bit3 = 1
Else
Bit3 = 0
End If
					
If IsActive(OEMTRIG4) Then
Bit4 = 1
Else
Bit4 = 0
End If

If IsActive(OEMTRIG5) Then
Parity = 1
Else
Parity = 0
End If

If IsActive(OEMTRIG6) Then
Strobe1 = 1
Else
Strobe1 = 0
End If

If IsActive(OEMTRIG7) Then
Strobe2 = 1
Else
Strobe2 = 0
End If

					'Where the hell is the turret now?

If Bit1=1 And Bit2=0 And Bit3=0 And Bit4=0 And Parity=1 And Strobe1=1 And Strobe2=0 Then
Position = 1
ElseIf Bit1=0 And Bit2=1 And Bit3=0 And Bit4=0 And Parity=1 And Strobe1=1 And Strobe2=0 Then
Position = 2
ElseIf Bit1=1 And Bit2=1 And Bit3=0 And Bit4=0 And Parity=0 And Strobe1=1 And Strobe2=0 Then
Position = 3
ElseIf Bit1=0 And Bit2=0 And Bit3=1 And Bit4=0 And Parity=1 And Strobe1=1 And Strobe2=0 Then
Position = 4
ElseIf Bit1=1 And Bit2=0 And Bit3=1 And Bit4=0 And Parity=0 And Strobe1=1 And Strobe2=0 Then
Position = 5
ElseIf Bit1=0 And Bit2=1 And Bit3=1 And Bit4=0 And Parity=0 And Strobe1=1 And Strobe2=0 Then
Position = 6
ElseIf Bit1=1 And Bit2=1 And Bit3=1 And Bit4=0 And Parity=1 And Strobe1=1 And Strobe2=0 Then
Position = 7
ElseIf Bit1=0 And Bit2=0 And Bit3=0 And Bit4=1 And Parity=1 And Strobe1=1 And Strobe2=0 Then
Position = 8
Else
MsgBox("Turret out of position")
End
End If 

OldTool = Position
NewTool = GetSelectedTool()
NumberOfStations = 0
LockProx = 0
Strobe1 = 0
IndexProx = 0
Rotation = 0

										
If NewTool < 1 Then
MsgBox("Tool Number Too Low")
End
End If

If NewTool > 8 Then
MsgBox("Tool Number Too High")
End
End If

If NewTool = OldTool Then
MsgBox("Selected Current Tool")
End
End If

					'Determine which way to turn and how many stations
					
If NewTool > OldTool Then
NumberOfStations = (NewTool-OldTool)
Else
NumberOfStations = (OldTool-NewTool)
End If

If NumberOfStations > 4 Then
NumberOfStations = 8 - NumberOfStations
End If

If NewTool = (OldTool+NumberOfStations) Then
Rotation = 1
ElseIf NewTool = (OldTool-NumberOfStations) Then
Rotation = -1
ElseIf (OldTool+NumberOfStations) > 8 Then
Rotation = 1
ElseIf (OldTool-NumberOfStations) < 1 Then
Rotation = -1
Else 
Rotation = 1
End If


DoOemButton(138)				'Go home
  
	While IsMoving()			'wait for movement
	sleep(100)
	Wend					'to end
  
 
For I = 1 To 18					'Slow jog is needed
	DoOemButton(112)			'for extra torque
Next I						'

If Rotation = 1 Then
DoOemButton(310)				'Rotate Turret CCW (axis Y-)
Else
DoOemButton(309)				'Rotate Turret CW  (axis Y+)
End If

sleep (500)					'Turn for .5 sec

DoOemButton(1003)				'Stop Motor
 
For I = 1 To 18					'Back to Fast jog
	DoOemButton(111)
Next I

If Rotation = 1 Then
DoOemButton(310)				'Rotate Turret CCW (axis Y-)
Else
DoOemButton(309)				'Rotate Turret CW  (axis Y+)
End If
   

For I = 1 To NumberOfStations			'Count number of stations

	While Strobe1 = 0			'Wait for Strobe1 to go high
		If IsActive(OEMTRIG6) Then
		Strobe1 = 1
		Else
		Strobe1 = 0
		End If
	Wend
	
	While IsActive(OEMTRIG6)		'Look for Strobe1 to go low
	Wend					'Number of Srobe1 falls =
						'Number of stations
Strobe1 = 0	

Next I

ActivateSignal(OUTPUT10)			'Energize lock solenoid


While LockProx = 0				'Look for Lock Proximity Switch
	If IsActive(OEMTRIG9) Then		'to go high
	LockProx = 1
	Else 
	LockProx = 0
	End If
Wend

DoOemButton(1003)				'stop motor

Sleep(100)					'wait for damping

For I = 1 To 18					'slow jog
	DoOemButton(112)			'for increased torque
Next I

If Rotation = 1 Then				'Reverse Motor
DoOemButton(309)				'Rotate Turret CW (axis Y+)
Else
DoOemButton(310)				'Rotate Turret CCW  (axis Y-)
End If

sleep (200)					'Turn for .2 sec

DoOemButton(1003)				'Stop Motor

For I = 1 To 18					'Fast Jog
	DoOemButton(111)
Next I

If Rotation = 1 Then				'Continue to Reverse Motor
DoOemButton(309)				'Rotate Turret CW (axis Y+)
Else
DoOemButton(310)				'Rotate Turret CCW  (axis Y-)
End If

While IndexProx = 0				'Look for IndexProx to go high
	If IsActive(OEMTRIG8) Then		'IndexProx must complete
	IndexProx = 1				'OFF-ON-OFF
	Else
	IndexProx = 0
	End If
Wend

While IsActive(OEMTRIG8)			'Look for IndexProx to go low
Wend

DoOemButton(1003)				'Stop motor	

sleep(200)

DeActivateSignal(OUTPUT10)			'De-Energize Lock Solenoid		 


						'Now in position

SetCurrentTool( NewTool )