Notes
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'{$PBASIC 2.5}
'constants
TURNON CON 1
TURNOFF CON 0
shdw CON 1
Nshdw CON 0
x 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
photoRestr VAR IN3
Input 3
'main program
Main:
DO
GOSUB moveForward
Loop until (photoRestr = shdw)
GOSUB stopMove
GOSUB Lturn
GOSUB stopMove
IF (photoRestr = shdw) THEN
GOSUB Rturn
GOSUB stopMove
GOSUB Rturn
GOSUB stopMove
ENDIF
DO
GOSUB moveForward
Loop until (photoRestr = shdw)
GOSUB stopMove
GOSUB Lturn
GOSUB stopMove
IF (photoRestr = shdw) THEN
GOSUB Rturn
GOSUB stopMove
GOSUB Rturn
GOSUB stopMove
ENDIF
DO
GOSUB moveForward
Loop until (photoRestr = shdw)
GOSUB stopMove
DO
GOSUB moveBackward
Loop until (photoRestr = Nshdw)
GOSUB Lturn
GOSUB Lturn
DO
GOSUB moveForward
Loop until (photoRestr = shdw)
GOSUB stopMove
GOSUB Lturn
GOSUB stopMove
IF (photoRestr = shdw) THEN
GOSUB Rturn
GOSUB stopMove
GOSUB Rturn
GOSUB stopMove
ENDIF
DO
GOSUB moveForward
Loop until (photoRestr = shdw)
GOSUB stopMove
GOSUB Lturn
GOSUB stopMove
IF (photoRestr = shdw) THEN
GOSUB Rturn
GOSUB stopMove
GOSUB Rturn
GOSUB stopMove
ENDIF
DO
GOSUB moveForward
Loop until (photoRestr = shdw)
GOSUB stopMove
'subroutines
moveForward:
Pulsout 12, 850
Pulsout 13, 680
Pause 20
RETURN
moveBackward:
Pulsout 12, 680
Pulsout 13, 850
Pause 20
RETURN
stopMove:
FOR x = 1 TO 50
Pulsout 12, 750
Pulsout 13, 750
Pause 20
NEXT
RETURN
Lturn:
for x = 1 to 23
Pulsout 12, 650 'left
Pulsout 13, 650 'right
Pause 19
NEXT
RETURN
Rturn:
for x = 1 to 22
Pulsout 12, 850 'left
Pulsout 13, 820 'right
Pause 20
NEXT
RETURN
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