motor[0]=80; // Motor at port 0 [motorA], speed=80 

motor(0,80); // alternative C code

RCXmotor(3,0,-80);

RCXmotor(1,2,-80);

Powermotor(0,100);
Powermotor(1,-80);
Powermotor(2,50);

Trainmotor(0,100);
Trainmotor(1,100);
Trainmotor(2,-50);
Trainmotor(3,-20);
Trainmotor(4,100);

byte PFB[17];

void PFComboPWM(byte Ch, byte OutR, byte OutB){
    byte PFBi=0;
    byte PFBBi=0;
    byte N[4];
    byte Ni=0;
    byte NBi=0;
    for(PFBi=0;PFBi<17;PFBi++){PFB[PFBi]=0x00;}
    PFBi=0;
    N[0]=0x4+Ch;
    N[1]=OutB;
    N[2]=OutR;
    N[3]=0xF;
    N[3]=N[3]^N[0]^N[1]^N[2];
    PFB[0]=16;
    PFB[1]=0x02;
    PFB[2]=0x42;
    PFB[3]=0x80;
    for(Ni=0;Ni<4;Ni++){
        for(NBi=0;NBi<4;NBi++){
            PFB[4+(PFBBi/8)]=PFB[4+(PFBBi/8)]|(128>>(PFBBi%8));
            if(N[Ni]&(8>>NBi)){PFBBi=PFBBi+5;}else{PFBBi=PFBBi+3;}}}
    PFB[4+(PFBBi/8)]=PFB[4+(PFBBi/8)]|(128>>(PFBBi%8));
    PFB[14]=0x11;
    PFB[15]=0x02;
    PFB[16]=0x01;}

task main(){
    SensorType[S1]=sensorI2CCustom9V;
    nI2CBytesReady[S1]=0;
    int OutR=0;
    int OutB=0;
    int ch=0;
    for(OutR=0;OutR<16;OutR++){OutB=15-OutR;
        for(ch=0;ch<4;ch++){
            PFComboPWM(ch,OutR,OutB);
            while(nI2CStatus[S1]==STAT_COMM_PENDING){}
            sendI2CMsg(S1,PFB[0],0);
            wait1Msec(20);}
        wait10Msec(60);}}

/*  RobotC-HTLink-Power Function PWM Mode
    Version: 0.1.6
    Date: 14/08/08
    Author: Mike Hatton
    Contact: Parax77ATgooglemailDOTCom
    Usage:*/

#include "PFmotorPWM.h";
task main()
{
   nMotorEncoder[motorA]=0;
   bMotorReflected[motorA]=true;
   nMotorEncoder[motorB]=0;
   int speedB=0,speedR=0,cha=1;
   while(1)
  {
    speedR=nMotorEncoder[motorA]/5;
    speedB=nMotorEncoder[motorB]/5;
    PFComboPWM(S1,cha, speedB, speedR );//send speed. use parameters for
                                             //sensorport,channel,speed blue motor,speed red motor
  }
}

/*  include program for RobotC-HTLink-Power Function PWM Mode
    Version: 1.0
    Date: 26/08/08
    Author: Gerrit Boomsma
    Contact:
    Usage: give easy use for PFmotors in RobotC userprograms
*******************************************************************************************
COPYED code from Mike Hatton and added code to it to easy use it in user programs.
/*  RobotC-HTLink-Power Function PWM Mode
    Version: 0.1.6
    Date: 14/08/08
    Author: Mike Hatton
    Contact: Parax77ATgooglemailDOTCom
    Usage:
*********************************************************************/

int i;
int sensorport=0;
int index1=0,index2=0;
int array[4][2];
#pragma autoStartTasks


byte PFB[17];

int speedvalue(byte speed)//convert selected speed to speed for PFmotor
{
   if (speed==0)//if selected speed is 0, motor will float
   {
      return 0;
   }
   else if (speed>0&&speed<8)//motor runs forward at selected speed 1 to 7
   {
     return speed;
        }
   else if (speed<0&&speed>-8)//motor runs reverse at selected speed -1 to -7
   {
      return speed+16;
   }
   return 8; //if speed selected other than -7 to +7, motor will brake.
}

// put selected speeds in an array.
void PFComboPWM(const tSensors sensorport,byte Channel, byte OutX, byte OutY)
{
   array[Channel-1][0]=OutX;
        array[Channel-1][1]=OutY;
}

// send data to PF receiver. Most code copyed from Mike Hattom
void sendIR(const tSensors sensorport,byte chan, byte OutX, byte OutY)
{
   nI2CBytesReady[sensorport] = 0;
   byte PFBi = 0; //PFByte Counter
   byte PFBBi = 0; //PFByte Bit Counter
   byte N[4]; //Nibble Array
   byte Ni = 0; //Nibble Counter
   byte NBi = 0; //Nibble Bit Counter
   //Clear PFB[] Array
   for (PFBi = 0; PFBi < 17; PFBi++)
   {
      PFB[PFBi] = 0x00;
   }
   PFBi = 0;
   //Populate Nibbles
   N[0] = 0x4+chan; //PWM Mode + (0-3)
   N[1] = speedvalue(OutX); //(0-15)
   N[2] = speedvalue(OutY); //(0-15)
   N[3] = 0xF; //XOR CRC
   N[3] = N[3]^N[0]^N[1]^N[2];//XOR CRC
   //Write PFB[0-3] (Fixed)
   PFB[0] = 16; //PFByte Length
   PFB[1] = 0x02; //Sensor Address
   PFB[2] = 0x42; //Write to Address
   PFB[3] = 0x80; //Start Bit
   //Write PFB[4-13] From Nibbles
   for (Ni = 0 ; Ni < 4 ; Ni++)//For Nibble 1 to 4
   {
      for (NBi = 0 ; NBi < 4 ; NBi++)//For Nibble Bit = 1 to 4
      {
         PFB[4+(PFBBi/8)] = PFB[4+(PFBBi/8)]|(0x80>>(PFBBi%8));   
         if (N[Ni]&(0x8>>NBi))   
         {
            PFBBi = PFBBi + 5; // add High = 5
         }
         else
         {
            PFBBi = PFBBi + 3; //add Low = 3
         }   //Next NibBit
      }   //Next Nibble
   }
   PFB[4+(PFBBi/8)] = PFB[4+(PFBBi/8)]|(0x80>>(PFBBi%8));
   PFB[14] = 0x11; //Length
   PFB[15] = 0x02; //PF Mode
   PFB[16] = 0x01; //Xmit
       for (i=0; i<4; i++)
       {
             while (nI2CStatus[sensorport] == STAT_COMM_PENDING)
        {}
           sendI2CMsg(sensorport, PFB[0], 0); // Send PFBytes
      }
}
task xmit()
{
      //   initialising
     SensorType[S1] = sensorI2CCustom9V;
     nI2CBytesReady[S1] = 0;
     //   clearing the array
     for (index1=0; index1<5;index1++)
    {
          for (index2=0; index2<3;index2++)
          array[index1][index2] = 0;
    }
     int xmitchannel=0,xmitblue=0,xmitred=0;
     while(1)
    {
          xmitblue=array[xmitchannel][0]; //load blue motor speed
     xmitred= array[xmitchannel][1]; //load red motor speed
          sendIR(sensorport,xmitchannel,xmitblue,xmitred);//send param to conversion code

     xmitchannel++; //swapp channels 1-4
     if(xmitchannel>3)
     xmitchannel=0;
     wait1Msec(20);
    }
}

PFB[4+(PFBBi/8)] = PFB[4+(PFBBi/8)]|(0x80>>(PFBBi%8));