#include <stdio.h>
#include <graph.h>

main()
{
	int i,j,k,v;
	short int l,m,t,u,a,b,c;
	unsigned char *i1,*i0,*j1,*j0,*k1,*k0,*l1,*l0;
	float g1,g2,r;

	i0=&i; i1=i0+1; /* set i1 & i0 to the high & low bytes of i */
	j0=&j; j1=j0+1; /* ditto for j0 & j1 */
	k0=&k; k1=k0+1; /* set k1 & k0 to the high & low bytes of k */
//        l0=&l; l1=l0+1; /* ditto for l0 & l1 */
	a=2; b=16; u=210;

start:  _clearscreen(_GCLEARSCREEN);
	printf(" State Space Control Program: hit any key to terminate. \n\n\n\r");
	printf("The analog signals input to A/D 0 and A/D 1 are combined to produce \n\r");
	printf("an output signal.  D/A 0 outputs the scaled sum of the 2 signals.\n\r");
	printf("(D/A0 = G1*A/D0 + G2*A/D1 + G*R)  \n \n\r");
	printf("While running, hit any key to reenter gains; 'q' to quit\n\n\r");
	printf("Enter G1: ");
	scanf("%f",&g1);
	printf("Enter G2: ");
	scanf("%f",&g2);
	printf("Enter Hybrid control G*R step size (Volts) \n\r");
	printf("  set to 0.0 for Optimal control; G*R: ");
	scanf("%f",&r);
	printf("Enter sample period (~msec, >=1) T: ");
	scanf("%d",&t);
	printf("\n\rUsing: G1 = %f, G2 = %f, T = %d \n\r",g1,g2,t);
//        t=10*t;
	v=(int)(r*204.8);

loop:   outp(0x301,0);  /* select A/D ch. 0, set gain to 1 */
	outp(0x302,0);  /* start conversion */
//        outp(0x305,*k0); outp(0x306,*k1);  /* output last value     */
	while(!(inp(0x300)&0x40));
	*i0=inp(0x303); *i1=inp(0x304);    /* input voltage         */

	outp(0x301,1);  /* select A/D ch. 1, set gain to 1 */
	outp(0x302,0);  /* start conversion */
/*        outp(0x307,*l0); outp(0x308,*l1);  /* output last value     */

	while(!(inp(0x300)&0x40));
	*j0=inp(0x303); *j1=inp(0x304);    /* input voltage         */

	k=g1*i+g2*j + v;
	if(k>2047)k=2047;
	if(k<-2048)k=-2048;
	outp(0x305,*k0); outp(0x306,*k1);  /* output last value     */
	for(l=1;l<t;l++)
	{
		for(m=1;m<u;m++)
		{
		c=log((float) a)*sin((float) b);
		}
	}

/*      printf(" %d ",j); */

	if(!kbhit())goto loop;
	l=getch();
	if(l!='q')goto start;
}