'************************************************************
'**
'** md22.bsc : DevanTech MD22 H-Bridge constants
'**
'** Copyright (c) 2004, Kyle A. York
'** All rights reserved
'**
'************************************************************
constant byte MD22_MODE_REG =       0
  ' mode 0 : speed [1,2] hold the speed
  '            0 = full reverse, 
  '          128 = stop
  '          255 = full forward
  ' mode 1 : speed [1,2] hold the speed as a signed value
  '          -128 = full reverse
  '             0 = stop
  '           127 = full forward
  ' mode 2 : speed1 controls both motors (see mode 0)
  '          speed2 controls the turning action
  ' mode 3 : speed1 controls both motors (see mode 1)
  '          turn_reg controls the turning action
constant byte MD22_SPEED1_REG =     1
constant byte MD22_SPEED2_REG =     2
constant byte MD22_TURN_REG   =     2
constant byte MD22_ACCELERATION_REG=3
  ' acceleration sets incremental acceleration, each increment
  ' being 64us.
constant byte MD22_FIRMWARE        =7