Page 203 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 05 3/24/03 8:44 AM Page 182
endif
PROGRAM 5.5
serpentronic.bas
program listing gosub infrared Amphibionics
(continued)
if object_detect = 1 then
high led_left
high led_right
Sound piezo,[100,4,90,2]
servo1 = 180
gosub servo
servo1 = 120
gosub servo
turn_count = turn_count + 1
if turn_count.0 = 1 then
gosub slide_right
else
gosub slide_left
endif

endif

low led_left
low led_right

gosub forward

goto start

'Subroutines start here

'------------------------------------------------------------------------------------------------------------------------------
' slither forward routine in a sine wave pattern

forward:
servo1 = 157
servo2 = 210
servo3 = 143
servo4 = 100

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