Page 341 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 07 3/24/03 9:13 AM Page 320
Amphibionics
PROGRAM 7.9
remote-sonar.bas
trisb = %00000001
program listing ' PortB set as outputs. pin 0 input.
(continued)
'------------------------------------------------------------------------------------------------------------------------------
' initialize variables
include "modedefs.bas"
rx_baud CON N2400
rxmit VAR PORTB.0
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
trigger VAR PORTA.0
echo VAR PORTA.1
piezo VAR PORTA.3
control VAR BYTE
temp VAR BYTE
dist_raw VAR WORD
dist_inch VAR WORD
conv_inch CON 15
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:

serin rxmit,rx_baud,["Z"],control

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