START IF NOT MbRunning OR MbyPosition == MbySetpoint OR bEmergencySTOP MbyPosition == MbySetpoint RETURN set Timer with tTimeoutValue (bDirection) && (MbyPosition>MbySetpoint) || (NOT bDirection) && (MbyPosition<MbySetpoint) MbRunning = FALSE Timer ended ? MASK CONSTANTS iMaxVoltage: voltage Max on the motor iMinVoltage: voltage Max on the motor I/O CONTROL VARIABLES MtTimeoutValue: time Max to configuring MbySetpoint: setpoint 8bits 0-255 MbyPosition: current position 8bits 0-255 MbRunning : TRUE when running (used to start too) MiDiagnostic: diagnostic value GLOBAL VARIABLES bEmergencySTOP: stop button VARIABLES bDirection: TRUE == positive byOffset: offset to setpoint iVoltage: voltage on the motor (stopped if == 0) Direction is set only one time to avoid change of direction firstTime Reset Timer If the Client do not ask for configuration, all motors are stopped MbRunning = FALSE TimeOut management Set Motor MiDiagnostic = 0 Set Motor NEXT LOOP Stop Motor bEmergencySTOP MiDiagnostic = -3 iVoltage = 0 iVoltage = - iVoltage NOT bDirection bDirection = MbyPosition < MbySetpoint iVoltage = f(Offset_to_consigne) MbRunning = FALSE MiDiagnostic = -2 Next Loop TRUE YES NO YES NO YES NO YES YES