Page 58 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 03 3/24/03 8:11 AM Page 37
Chapter 3 / Microcontrollers and PIC Programming
switch_r VAR PORTA.4
switch_l VAR PORTA.3
frog-test.bas program
listing (continued)
led_l VAR PORTB.1 PROGRAM 3.1
led_r VAR PORTB.0
piezo VAR PORTB.4
'------------------------------------------------------------------------------------------------------------------------------
low servo_l
low servo_r
start:
for temp1 = 1 to 10
SOUND piezo, [80,4,100,2]
low led_l
low led_r
pause 50
high led_l
high led_r
next temp1
SOUND piezo, [100,4,120,2,80,2,90,2]
low led_l
low led_r
rotate:
servo_pos_r = 170
gosub right_servo
servo_pos_l = 130
gosub left_servo
goto rotate
'------------------------------------------------------------------------------------------------------------------------------

' subroutines to set servos
both_servo:
for timer1 = 1 to 15
pulsout servo_l,servo_pos_l
pulsout servo_r,servo_pos_r
pause 6
next timer1
return
left_servo:
for timer2 = 1 to 10

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