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« PIC Test 2 - Dam Robot | Main
November 25, 2004
PIC Test 3 - goddam robot

'****************************************************************

'* Name : robot_code1.BAS *

'* Author : BX by C.Goodness, modified by Carlyn Maw and Christina Goodness *

'* Notice : Copyright (c) 2004 *

'* : All Rights Reserved *

'* Date : 4/16/2004 *

'* Version : 1.0 *

'* Notes : *

'* : *

'****************************************************************

'needed for serin and serout

include "modedefs.bas"

DEFINE OSC 4

' ----------------------------------------------------- PORT SET-UP

'SET PORT A TO INPUT

TRISA = %11111111

'set port b and c to output:

TRISB = %00000000

TRISC = %00000000

' ----------------------------------------------------- CONSTANTS

'movement constant

basicSpeed con 100

' ----------------------------------------------------- VARIABLES

'-- ir and ultrasonic vars (words or ints I'm not sure...)

readMotion var BYTE 'FORMULA TO GET THE IR READINGS INTO NORMAL RANGE

getDistance var BYTE 'getDistance is the IR reading

getSonic var BYTE 'getSonic is the Ultrasonic reading

' ----------------------------------------------------- START MAIN



main:

'ADCIN 0, GETDISTANCE ' get the ADC value from the IR on pin A0

ADCIN 1, GETSONIC ' get the ADC value of Ultrasonic reading from pin A1

readMotion = ((1024 - getDistance) / 8)



serout2 portc.6, 16468, [DEC getSonic, 10, 13]

HIGH PORTB.0

LOW PORTB.1

HIGH PORTB.2

LOW PORTB.3

'serout2 portc.6, 16468, [DEC readMotion, 10, 13]

'pause 1000



'GOTO MOTORCONTROL

PAUSE 50



goto main



'-----------------------------------



MOTORCONTROL:



IF GETSONIC < 100 THEN

HIGH PORTB.0

LOW PORTB.1

ELSE

IF GETSONIC > 100 THEN

HIGH PORTB.1

LOW PORTB.0

ENDIF

ENDIF



IF READMOTION > 100 THEN

HIGH PORTB.2

LOW PORTB.3

ELSE

IF READMOTION < 100 THEN

HIGH PORTB.3

ENDIF

ENDIF



RETURN