#include <12F675.h>
#fuses INTRC_IO,NOWDT,NOPROTECT,NOMCLR,BROWNOUT
#use delay(clock=4000000)
#use rs232(baud=9600,xmit=PIN_A0,rcv=PIN_A3,parity=N,bits=8)
/* （上の行の説明）GP0をシリアル通信の送信、GP3を受信に設定。 */

/* [255][ID][Length(4)][Command(2)][S-Number][S-Position][Speed] */
unsigned char mov_data[7] = {255, 3, 4, 2, 0, 127, 20};

int cnt;

/* Function - send command for a servo */
void S_Move(unsigned char s_number, unsigned char s_position)
{
	mov_data[4] = s_number;
	mov_data[5] = s_position;
	for(cnt = 0; cnt < 7; cnt++){
		putc(mov_data[cnt]);
	}
}

/* main */
void main(void)
{
	set_tris_a(0x00);		/* IO setting(GP3 is always input)*/
	delay_ms(1000);			/* wait for RSC start up(important!) */
	
	while(1){				/* main loop */
		S_Move(0,127);		/* position=127(center) */
		delay_ms(1000);		/* wait for a while */
		S_Move(0,200);		/* position=200 */
		delay_ms(1000);		/* wait for a while */
	}
	
}