SCRIPT_VER=1

dim CANAlive as integer ' Alive Robocan nodes

' Read list of alive RoboCAN nodes
CANAlive = getvalue(_CL, 1)

' Check if Slave is present
if(CANAlive = 273)
' Scanning value for slave channel 1
ScanCANValue(2,_MOTAMPS,1,40,0)
ScanCANValue(2,_MOTCMD,1,40,1)
ScanCANValue(2,_MOTPWR,1,40,2)
ScanCANValue(2,_ABSPEED,1,40,3)
ScanCANValue(2,_ABCNTR,1,40,4)
ScanCANValue(2,_BATAMPS,1,40,5)
ScanCANValue(2,_ANAIN,1,40,6)

' Scanning value for slave channel 2
ScanCANValue(2,_MOTAMPS,2,40,7)
ScanCANValue(2,_MOTCMD,2,40,8)
ScanCANValue(2,_MOTPWR,2,40,9)
ScanCANValue(2,_ABSPEED,2,40,10)
ScanCANValue(2,_ABCNTR,2,40,11)
ScanCANValue(2,_BATAMPS,2,40,12)
ScanCANValue(2,_ANAIN,2,40,13)

' Scanning value independent from channel
ScanCANValue(2,_VOLTS,2,40,14)
ScanCANValue(2,_VOLTS,1,40,15)
ScanCANValue(2,_VOLTS,3,40,16)
ScanCANValue(2,_TEMP,1,40,17)
ScanCANValue(2,_DI,6,40,18)

ScanCANValue(2,_FLTFLAG,1,40,19)
ScanCANValue(2,_STFLAG,1,40,20)


end if


top:

	' Send feedback for this channel at ..Hz.
		GoSub PrintFeedback

        wait(5)

	' Send status messages for the controller at ..Hz.
	c++
	if c = 5 then
		GoSub PrintStatus
		c = 0
	end if

	wait(20)
	goto top

PrintFeedback:
	print("&f:", 1)
	print(":", getvalue(_MOTAMPS, 1))
	print(":", getvalue(_MOTCMD, 1))
	print(":", getvalue(_MOTPWR, 1))
	print(":", getvalue(_ABSPEED, 1))
	print(":", getvalue(_ABCNTR, 1))
	print(":", getvalue(_BATAMPS, 1))
	print(":", getvalue(_ANAIN, 1))

	print(":", 2)

	print(":", getvalue(_MOTAMPS, 2))
	print(":", getvalue(_MOTCMD, 2))
	print(":", getvalue(_MOTPWR, 2))
	print(":", getvalue(_ABSPEED, 2))
	print(":", getvalue(_ABCNTR, 2))
	print(":", getvalue(_BATAMPS, 2))
	print(":", getvalue(_ANAIN, 2))


  if(CANAlive = 273)


	print(":", 3)
	print(":", ReadScannedCANValue(0))
	print(":", ReadScannedCANValue(1))
	print(":", ReadScannedCANValue(2))
	print(":", ReadScannedCANValue(3))
	print(":", ReadScannedCANValue(4))
	print(":", ReadScannedCANValue(5))
	print(":", ReadScannedCANValue(6))


	print(":", 4)

	print(":", ReadScannedCANValue(7))
	print(":", ReadScannedCANValue(8))
	print(":", ReadScannedCANValue(9))
	print(":", ReadScannedCANValue(10))
	print(":", ReadScannedCANValue(11))
	print(":", ReadScannedCANValue(12))
	print(":", ReadScannedCANValue(13))

	print(":", ReadScannedCANValue(14))
	print(":", ReadScannedCANValue(18))
	end if


        print(":", getvalue(_VOLTS, 2))
	print(":", getvalue(_DI, 6))

	print("\r")
	Return

PrintStatus:
	print("&s:", SCRIPT_VER)
	print(":", getvalue(_FLTFLAG))
	print(":", getvalue(_STFLAG))
	print(":", getvalue(_VOLTS, 1))
	print(":", getvalue(_VOLTS, 3))
	print(":", getvalue(_TEMP, 1))

	if(CANAlive = 273)
	print(":", SCRIPT_VER)
	print(":", ReadScannedCANValue(19))
	print(":", ReadScannedCANValue(20))
	print(":", ReadScannedCANValue(15))
	print(":", ReadScannedCANValue(16))
	print(":", ReadScannedCANValue(17))

	end if

	print("\r")
	Return