Option Explicit

Const TurretServo As Byte = 20 	'(Pin20 on the RAMB)

Const TurretServoLeft As Single = 0.001
Const TurretServoMid As Single = 0.0016
Const TurretServoRight As Single = 0.0023


Const ServoSleep As Single = 0.03
Const ServoPulses As Integer = 12
Const TurretSensorPin As Byte = 13

Dim TurretModifier as Single 		' Amount the servo moves between pulses
Dim TurretPosition as Single		' Position of the sensor
Dim TurretConv as Single

Dim TurretStack (1 To 96) As Byte
'********************************
Public Sub Main ()
TurretPosition = TurretServoLeft
Dim s as Integer
	For s = 1 to 20
	Call PulseOut(TurretServo, TurretPosition, 1)
	Call Delay(0.02)
	Next
TurretModifier = 0.00001
Sleep (3.0)
CallTask "RotateTurret", TurretStack

End Sub
'********************************************************
'************* Rotate Turret Task ***********************

Sub RotateTurret()
Dim z as Integer
Do
	TurretPosition = TurretPosition + TurretModifier
		If TurretPosition < TurretServoLeft Then
			TurretModifier = 0.00001
		ElseIf TurretPosition > TurretServoRight Then
			TurretModifier = -0.00001
		End If
	Call PulseOut(TurretServo, TurretPosition, 1)
	TurretConv = TurretPosition * 100000.00
	z = FixI(TurretConv)
	Debug.Print CStr(Z); ", "; Cstr(GetADC(13))  
	Delay(0.02)
	Delay(0.1)
Loop
End Sub