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'{$PBASIC 2.5}
'constants
TURNON CON 1
TURNOFF CON 0
shadow CON 1
no_shadow CON 0
loop1 VAR Word
'--------------------------------
'initialization
OUTPUT 11
initLed VAR OUT11
initLed = TURNON
PAUSE 500
initLed = TURNOFF
PAUSE 500
FREQOUT 10, 500, 2000
'--------------------------------
'set I/O ports & give friendly names
photoResistor VAR IN3
INPUT 3
'main program
Main:
DO
GOSUB moveForward
LOOP UNTIL (photoResistor = shadow)
GOSUB stopMove
GOSUB turnLeft
GOSUB stopMove
DO
GOSUB moveForward
LOOP UNTIL (photoResistor = shadow)
GOSUB stopMove
GOSUB turnLeft
GOSUB stopMove
GOSUB turnLeft
GOSUB stopMove
DO
GOSUB moveForward
LOOP UNTIL (photoResistor = shadow)
GOSUB stopMove
GOSUB turnRight
GOSUB stopMove
DO
GOSUB moveForward
LOOP UNTIL (photoResistor = shadow)
END
'subroutines
moveForward:
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 20
RETURN
stopMove:
FOR loop1 = 1 TO 50
PULSOUT 12, 750
PULSOUT 13, 750
PAUSE 20
NEXT
RETURN
moveBackward:
FOR loop1 = 1 TO 100
PULSOUT 12, 650
PULSOUT 13, 850
PAUSE 20
NEXT
RETURN
turnLeft:
FOR loop1 = 1 TO 25
PULSOUT 12, 650
PULSOUT 13, 650
PAUSE 20
NEXT
RETURN
turnRight:
FOR loop1 = 1 TO 100
PULSOUT 12, 850
PULSOUT 13, 850
NEXT
RETURN
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