Config Pind.1 = Input                                       'Encoder "Taster"
Config Pind.2 = Input                                       'Encoder "A"
Config Pind.3 = Input                                       'Encoder "B"
Config Portd.6 = Output                                     'Servoausgang 1
Config Portd.5 = Output                                     'Servoausgang 2
Config Portd.4 = Output                                     'Servoausgang 3
Config Portb = Output                                       '8 LEDs

Dim A As Byte                                               'Speicher Servoposition
Dim Serv1 As Byte                                           'Speicher Servoposition
Dim Serv2 As Byte                                           'Speicher Servoposition
Dim Serv3 As Byte                                           'Speicher Servoposition
Dim B As Byte                                               'Speicher Anzeige Servopos.
Dim C As Byte                                               'Speicher aktives Servo
Dim Flag As Bit                                             'flag für Tasterentprellung

Config Servos = 3 , Servo1 = Portd.6 , Servo2 = Portd.5 , Servo3 = Portd.4 , Reload = 9       'Servo an Portb.3

Enable Interrupts
Enable Int0
Enable Int1
Config Int0 = Change                                        'Encoderleitungen an Int0 und Int1
Config Int1 = Change
On Int0 Kanal1                                              'Springe in Encoderdecodierung
On Int1 Kanal2                                              'Springe in Encoderdecodierung


A = 77
'A = 168
  Serv1 = A
  Serv2 = A
  Serv3 = A
B = 1
Flag = 0
C = 4
Gosub Kanal1
Gosub Kanal2

Do

  If Flag = 1 And Pind.1 = 1 Then
    Flag = 0
    C = C + 1
   End If
  If Pind.1 = 0 Then Flag = 1
  If C = 5 Then C = 1
  If A > 242 Then A = 242
  If A < 77 Then A = 77
  If A < 96 Then B = &B00000001
  If A > 095 And A < 115 Then B = &B00000011
  If A > 114 And A < 133 Then B = &B00000010
  If A > 132 And A < 151 Then B = &B00000110
  If A > 150 And A < 180 Then B = &B00000100
  If A > 179 And A < 200 Then B = &B00001100
  If A > 199 And A < 216 Then B = &B00001000
  If A > 215 And A < 234 Then B = &B00011000
  If A > 233 Then B = &B00010000
  If A = 168 Or A = 169 Then B = &B00001010
  If C = 1 Then
    B = B Or &B10000000
    Serv1 = A
   End If
  If C = 2 Then
    B = B Or &B01000000
    Serv2 = A
   End If
  If C = 3 Then
    B = B Or &B00100000
    Serv3 = A
   End If
  If C = 4 Then
    B = B Or &B11100000
    Serv1 = A
    Serv2 = A
    Serv3 = A
   End If
  B = B Xor 255
  Portb = B
  Servo(1) = Serv1
  Servo(2) = Serv2
  Servo(3) = Serv3
  Waitms 1
Loop


Kanal1:
If Pind.2 = 1 And Pind.3 = 0 Then A = A + 1
If Pind.2 = 0 And Pind.3 = 1 Then A = A + 1
If Pind.2 = 1 And Pind.3 = 1 Then A = A - 1
If Pind.2 = 0 And Pind.3 = 0 Then A = A - 1
Return

Kanal2:
If Pind.2 = 0 And Pind.3 = 1 Then A = A - 1
If Pind.2 = 1 And Pind.3 = 0 Then A = A - 1
If Pind.2 = 1 And Pind.3 = 1 Then A = A + 1
If Pind.2 = 0 And Pind.3 = 0 Then A = A + 1
Return

End                                                         'end program