'{$STAMP BS2sx, Start_Patterns.bsx, Search&Destroy.bsx, Remote_Control.bsx} ' --------------Variables------------------------ ' Time VAR Word 'Button push time accumulator Pattern VAR Byte 'The Start pattern to be run C VAR Byte 'Counter D VAR Byte 'Counter IRout VAR Byte 'Sensor output to Branch SPin CON 15 'Serial out pin RPin CON 14 'Reset pin Bmode CON 240 'Serial out Baudmode 240 = 9.6Kbit, 110 = 19.2Kbit RFWD CON 0 ' --------------Initializations------------------ ' LOW 1 'Preset sensors and outputs LOW 2 LOW 3 LOW 4 LOW 5 LOW 8 LOW 9 LOW 10 LOW 11 IRout = 0 Initialize_Motor_Control: LOW RPin 'Reset motor control HIGH RPin SEROUT SPin, Bmode, [$80, 0, RFWD, 0] '************************************************************************** '************************************************************************** '***************Main Program*********************************************** Main: IF IN0 = 0 THEN SetStartMode 'If Aux PB is pushed, run the Start Mode routine READ 0, Pattern 'Retrieve the existing pattern from EEPROM PUT 0, Pattern 'Store existing pattern in Scratch RAM WRITE 0, 0 'Clear old pattern from EEPROM so that another 'reset will NOT rerun the old start pattern RUN 1 'Run Start Patterns routine SetStartMode: LOW 10: HIGH 9: PAUSE 100 'Flash red and green until the LOW 9: HIGH 10: PAUSE 100 'Aux PB is released IF IN0 = 0 THEN SetStartMode LOW 9: LOW 10: Pattern = 2 'Turn off LED and set the first start pattern WRITE 0, Pattern 'Store the present pattern in RRPROM Watch: LOW 10: LOW 9 'Turn off LED FOR D = 0 TO 40 'Pause for .4 seconds while watching for IF IN0 = 0 THEN Timer 'Aux PB push PAUSE 10 NEXT FOR C = 1 TO Pattern STEP 2 'Flash the pattern number LOW 10: HIGH 9 'Turn on Red LED FOR D = 0 TO 15 'Pause for .15 seconds while watching for IF IN0 = 0 THEN Timer 'Aux PB push PAUSE 10 NEXT LOW 10: LOW 9 'Turn off LED FOR D = 0 TO 15 'Pause for .15 seconds while watching for IF IN0 = 0 THEN Timer 'Aux PB push PAUSE 10 NEXT NEXT FOR D = 0 TO 40 'Pause for .15 seconds while watching for IF IN0 = 0 THEN Timer 'Aux PB push PAUSE 10 NEXT FOR D = 0 TO 50 'Pause for 2 seconds while watching for IF IN0 = 0 THEN Timer 'Aux PB push GOSUB Sensors 'Check the sensors turning on the Red or Green LED PAUSE 20 NEXT GOTO Watch Timer: LOW 9: LOW 10: Time = 0 'Reset timer couter Pressed: Time = Time + 1 'Increment timer counter PAUSE 10 IF IN0 = 1 THEN Up GOTO Pressed Up: IF TIME > 25 THEN Begin 'If the Aux PB is held down, Begin the start routine Pattern = Pattern + 2 'If the Aux PB is flashed, increment pattern, IF Pattern > 8 THEN Remote WRITE 0, Pattern 'Store the new pattern in EEPROM GOTO Watch 'Flash LED and wait for next Aux PB push Remote: RUN 3 Begin: Pattern = Pattern + 1 'Set RightSearch to 1, i.e. search to the right PUT 0, Pattern 'Store the new pattern in Scratch RAM WRITE 0, 0 'Clear old pattern from EEPROM so that another 'reset will NOT rerun the old start pattern RUN 1 'Run Start Patterns routine '************************************************************************** '************************************************************************** '***************Check IR sensors******************************************* Sensors: FREQOUT 3, 1, 14450 'Center IR sensor IROUT.BIT2 = IN6 FREQOUT 2, 1, 14450 'Left Center IR sensor IROUT.BIT1 = IN6 FREQOUT 4, 1, 14450 'Right Center IR sensor IROUT.BIT3 = IN6 FREQOUT 1, 1, 14493 'Left IR sensor IROUT.BIT0 = IN6 FREQOUT 5, 1, 14450 'Right IR sensor IROUT.BIT4 = IN6 LOW 9 LOW 10 IF IRout = 31 THEN IRoff 'If no sensors respond then LED is off HIGH 10 'If any sensor responds then LED is green IRoff: IF IRout <> 0 THEN IRred LOW 10 'If all sensor responds then LED is red HIGH 9 IRred: RETURN