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Amphibionics 06 3/24/03 9:02 AM Page 240
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being connected to the middle connector of the limit switches (see
Figure 6.42). Turn the power back on, and push the limit switch
on the robots right side with your finger. The PIC should produce
alternating high and low tones from the piezo speaker. Trigger the
left switch with your finger. A steady pulsing tone should be heard.
If the tones being produced do not correspond to the correct
switch, then reverse connector JP4 (Figure 6.42).
'------------------------------------------------------------------------------------------------------------------------------
PROGRAM 6.1
' Name : croco-switch.bas
crocobot-switch.bas
' Compiler : PicBasic Pro - MicroEngineering Labs
program listing
' Notes : Program to test the leg limit switches
'------------------------------------------------------------------------------------------------------------------------------

' PortA set as outputs. pins 0 and 1 inputs
trisa = %00000011

' PortB set as outputs. pin 1 input.
trisb = %00000001

'------------------------------------------------------------------------------------------------------------------------------
' initialize variables

include "modedefs.bas"

limit_left VAR PORTA.0
limit_right VAR PORTA.1
piezo VAR PORTA.3

SOUND PIEZO,[115,10,50,10]

start:

If limit_left = 1 then
SOUND PIEZO,[100,10]
pause 20
endif

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