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Amphibionics 06 3/24/03 9:02 AM Page 246
Amphibionics
PROGRAM 6.5
' Name : walk-routines.bas
walk-routines.bas
' Compiler : PicBasic Pro - MicroEngineering Labs
program listing '------------------------------------------------------------------------------------------------------------------------------
' Notes : various walking subroutines
'------------------------------------------------------------------------------------------------------------------------------
' 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"

enable_right VAR PORTB.1
forward_right VAR PORTB.2
reverse_right VAR PORTB.3
enable_left VAR PORTB.4
reverse_left VAR PORTB.5
forward_left VAR PORTB.6
limit_left VAR PORTA.0
limit_right VAR PORTA.1
piezo VAR PORTA.3
temp VAR BYTE

low enable_left
low forward_left
low reverse_left

low enable_right
low forward_right
low reverse_right

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

start:

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