; Copyright (c) 1995,  Microstar Laboratories, Inc.
; All rights reserved.

  RESET
  PIPES P1,P2
  VARIABLES SETP=1000, P=-100, I=-50, D=-50
  IDEF A 1
    SET IPIPE0 S0 10
    TIME 10000
    END
  PDEF B
    PID (IPIPE0, SETP, P,1000, I,1000, D,1000, P1)
    PWM (P1, -5000, 5000, 10, 0, 0, OPIPE0)
    END
  ODEFINE C 1
    SET OPIPE0 B
    TIME 10000
    END
  START A, B, C
