Page 358 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 07 3/24/03 9:13 AM Page 337
Chapter 7 / Turtletron: Build Your Own Robotic Turtle
trisb = %00000001
sonar-map.bas program
listing (continued)
'------------------------------------------------------------------------------------------------------------------------------ PROGRAM 7.13
' initialize variables
trigger VAR PORTA.0
echo VAR PORTA.1
piezo VAR PORTA.3
switch 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
dist_raw VAR WORD
dist_inch VAR WORD
conv_inch CON 15
I VAR BYTE
temp VAR BYTE
state VAR BYTE
best_pos VAR BYTE
most_space VAR BYTE
position VAR WORD[12]

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:

' rotate robot to the left

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