Notes
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'{$PBASIC 2.5}
CIRCUIT_HIGH CON 1
TURNON CON 1
TURNOFF CON 0
UNPUSHED CON 0
PRESSED CON 1
counter var WORD
OUTPUT 11
initLed VAR OUT11
'initialization program
initLed = TURNON
PAUSE 500
initLed = TURNOFF
PAUSE 500
FREQOUT 10, 500, 1000
PAUSE 500
FREQOUT 10, 500, 1000
'end of initialization
'setting I/O ports
INPUT 3
Btn VAR IN0
pulse_count var word
MAIN:
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB Movestop
GOSUB turnRight
GOSUB Movestop
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB Movestop
GOSUB turnLeft
GOSUB Movestop
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB Movestop
GOSUB turnRight
GOSUB Movestop
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB moveForward
GOSUB Movestop
GOSUB Bigpause
movetowall:
do while Btn = UNPUSHED
pulsout 12, 800
pulsout 13, 700
pause 20
loop
Return
moveForward:
FOR pulse_count = 1 to 100
PULSOUT 12, 850 'left
PULSOUT 13, 650 'right
NEXT
RETURN
goto main
moveReverse:
FOR pulse_count = 1 to 75
PULSOUT 12, 710
PULSOUT 13, 790
PAUSE 20
NEXT
GOTO MAIN:
turnLeft:
FOR pulse_count = 1 to 120
PULSOUT 12, 650 'left
PULSOUT 13, 650 'right
NEXT
RETURN
goto main
turnRight:
FOR pulse_count = 1 to 110
PULSOUT 12, 850 'left
PULSOUT 13, 850 'right
NEXT
RETURN
goto main
Movestop:
FOR pulse_count = 1 to 50
PULSOUT 12, 750 'left
PULSOUT 13, 750 'right
NEXT
RETURN
goto main
Bigpause:
FOR pulse_count = 1 to 1000
PULSOUT 12, 750 'left
PULSOUT 13, 750 'right
NEXT
RETURN
goto main
turnAround:
GOSUB turnRight
GOSUB turnRight
GOTO MAIN:
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