Page 335 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 07 3/24/03 9:13 AM Page 314
Amphibionics
PROGRAM 7.7
' initialize variables
avoidance.bas program
listing (continued) '------------------------------------------------------------------------------------------------------------------------------
trigger VAR PORTA.0
echo VAR PORTA.1
piezo VAR PORTA.3
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
dist_raw VAR WORD
dist_inch VAR WORD
conv_inch CON 15
turn 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]
turn = 0

start:

gosub sr_sonar

if dist_inch < 12 then
turn = turn + 1
gosub backwards
if turn.0 = 1 then
gosub turn_left
else

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