'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 )

					'Read the Encoder Bits

					
Sleep(1000)					
					
					
					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 

If IsActive(OEMTRIG6) Then			'check strobe1 state
'everything checks out
Else
MsgBox("Turret out of position")
End
End If

If IsActive(OEMTRIG7) Then			'check strobe2 state
MsgBox("Turret out of position")
End
End If

If IsActive(OEMTRIG8) Then			'check IndexProx state
MsgBox("Turret Index Proximity Fault")
End
End If


If IsActive(OEMTRIG9) Then			'check LockProx state
MsgBox("Turret Lock Pin Retract Failure")
End
End If


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



If Position = GetSelectedTool() Then		'check tool = selected tool
'is OK
Else
MsgBox("Turret not in selected position!!")
End
End If


End