#include "Regs240x.h"
#include "ClearDog.h"

int SampleAlpha()  /**/
{   
    int temp_alpha;
    //float x; 
    
     asm(" SETC INTM");      
  	/*	Sample Alpha -- ADIN2	*/ 
    * ADCTRL2 = 0x4000;   /** Reset SEQ**/  	   
	* CHSELSEQ1 = 0x02; /*0x02*/
	* ADCTRL2 = 0x2000;    /* startup */

	/* wait for Convert */      
	while( *ADCTRL2 & 0x1000 );

    temp_alpha = (*RESULT0 >> 6) & 0x3ff; 
    
    asm(" CLRC INTM ");
    
    //x = (temp_alpha/1023.0)*3.3;
    ClearDog();
    return temp_alpha;
}


int Sampletheta()  /*擺桿*/ 
{        
   int temp_theta;
   // float x; 
    asm(" SETC INTM");         
    /*	Sample Theta -- ADIN8->ADCIN14	*/
    *ADCTRL2 = 0x4000;   /** Reset SEQ**/  
	*CHSELSEQ1 = 14; 
	*ADCTRL2 = 0x2000;

	/* wait for Convert */      
	while( *ADCTRL2 & 0x1000 );

    temp_theta = (*RESULT0 >> 6) & 0x3ff; 
    
    asm(" CLRC INTM "); 
    /** x = (temp_theta /1023.0)*3.3; **/
    
    ClearDog();
    return temp_theta;
}