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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:
DO
IF Btn = PRESSED THEN
GOSUB moveForward
GOSUB moveReverse
ELSE
ENDIF
LOOP
movetowall:
do while Btn = UNPUSHED
pulsout 12, 800
pulsout 13, 700
pause 20
loop
Return
moveForward:
for pulse_count = 0 to 80 step 2
pulsout 12, 750 + pulse_count
pulsout 13, 750 - pulse_count
pause 20
NEXT
for pulse_count = 0 to 80 step 2
pulsout 12, 860 - pulse_count
pulsout 13, 640 + pulse_count
pause 20
NEXT
RETURN
moveReverse:
FOR pulse_count = 1 to 75
PULSOUT 12, 710
PULSOUT 13, 790
PAUSE 20
NEXT
GOTO MAIN:
turnLeft:
FOR pulse_count = 1 to 37
PULSOUT 13, 725
PULSOUT 12, 725
PAUSE 20
NEXT
GOTO MAIN:
turnRight:
FOR pulse_count = 1 to 32
PULSOUT 12, 777
PULSOUT 13, 775
PAUSE 20
NEXT
GOTO MAIN:
Movestop:
PAUSE 1000
GOTO MAIN:
turnAround:
GOSUB turnRight
GOSUB turnRight
GOTO MAIN:
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