dim Ierror as integer
dim Igain as integer
dim Mamp as integer
dim bvolt as integer
dim Iset as integer
dim counter as integer
dim pressuremV as integer
dim pressureSetmV as integer
dim pressureErrormV as integer
dim pressureGain as integer

setcommand(_MS,1)

'reuse counter
print("\n\rStarting (V1)")
for counter=10 andwhile counter >= 0 evaluate counter -= 1
 wait(1000)
 print(counter," ")
next counter
print("\n\r")

counter=10
Iset=20
Igain = 100     'proportional gain
pressureSetmV = 1000
pressureGain = 100

setcommand(_VAR,1,PressureSetmV) 'save in VAR 1 in pressure mV
setcommand(_VAR,2,Igain)
setcommand(_VAR,3,pressureGain)

while 1

'IMPORTANT AIN 3 is for the bad input controller, should be 1
 pressuremV = getvalue(_AI,3)
 pressureGain = getvalue(_VAR,3)
 
  pressureErrormV = pressureSetmV - pressuremV
  
  Iset = pressureErrormV * pressureGain
  
  if Iset > 75 then
    Iset = 75
  end if
  
'begin current loop
  Igain = getvalue(_VAR,2)

  Mamp=getvalue(_MOTAMPS,1)

 
'  Iset=getvalue(_VAR,1)
  
  Ierror = Iset - Mamp

  output = Ierror * Igain

'end current loop

'begin output clipping
  if output > 1000 then
    output = 1000
  end if
    
  if output < -1000 then 
    output = -1000
  end if
    
  if output < 0 then
    output=0
  end if
'end output clipping

  setcommand(_GO,1,output)

  counter++
  if counter >= 1 then  'time to send an update
    pwr=getvalue(_MOTPWR,1)
    print(Mamp,",",Ierror,",",pwr,",",pressuremV,"\n\r")
    counter=0
  end if

  wait(10)
end while

halt:                  'hard fault, estop
  SetCommand(_ESTOP,1)
  setcommand(_GO,1,0)          
haltloop:  
  print("ERROR: ",errorCode," : ",errorValue,"\n\r")
  wait(1000)
  goto haltloop