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Bots / The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 7

166 The Ultimate Palm Robot

rem 1 = full reverse
rem 128 = stop (centered)
rem 255 = full forward

sv1$="128" : sv2$="1" : sv3$="255"
gosub 1100
fn wait(2)

sv1$="255" : sv2$="255" : sv3$="255"
gosub 1100
fn wait(3)

sv1$="128" : sv2$="1" : sv3$="255"
gosub 1100
fn wait(2)

sv1$="1" : sv2$="1" : sv3$="1"
gosub 1100
fn wait(3)

sv1$="128" : sv2$="128" : sv3$="128"
gosub 1100

return

1100 : rem servo control
rem 1 = full reverse
rem 128 = stop (centered)
rem 255 = full forward
print #5, "SV1M" + sv1$
print #5, "SV2M" + sv2$
print #5, "SV3M" + sv3$
return

1200 : rem read sensor 1
range = -1
print #5, "BD1AD1" + chr$(13) : rem tell board sensor 1
s = fn serial(5)
if s > 0 then
r$ = get$(#5, s) : rem read bytes
range = val(r$)
endif
return

P:\010Comp\Bots\880-6\ch07.vp
Monday, May 12, 2003 4:29:22 PM