' {$STAMP BS2}
' {$PBASIC 2.5}

'-------------------------------------Variables--------------------------------------------


    Water CON 4                    'Water Pump Pin
    RtHB2 CON 5                    '2nd Right H-Bridge Pin
    RtHB1 CON 6                    '1st Right H-Bridge Pin
    LftHB2 CON 7                   '2nd Left H-Bridge Pin
    LftHB1 CON 8                   '1st Left H-Bridge Pin
    RtIR1 CON 10                   'Right IR LED Pin
    LftIR1 CON 12                  'Left IR LED Pin
    MidIR CON 13                   'Middle IR Pin
    SdrServo CON 14                'Seeding Servo Pin
    DrlServo CON 15                'Drill Servo Pin

    RtIR2 VAR Bit                  'Right IR Input
    LftIR2 VAR Bit                 'Left IR Input
    Temp VAR Word                  'Temporary For...Next Variable
    counter VAR Word               'Drill Value Counter
    Number VAR Word                'IR Turning Value
    HoldBit VAR Bit                'Middle IR Input

    counter = 0                    'Setting counter to 0
'-------------------------------------Forward Movement-------------------------------------


 Forward:

   LOW RtHB1                       'Move Right Wheel Forward
   HIGH RtHB2

   LOW LftHB1                      'Move Left Wheel Forward
   HIGH LftHB2

   PAUSE 2200                      'Time of Forward Movement

GOTO MiddleIR



Stopping:

   LOW RtHB2                       'Stop Right Wheel
   LOW LftHB2                      'Stop Left Wheel

  PAUSE 10                         'Given Time to Change

GOTO Drill
'------------------------------------Drill Hole--------------------------------------------



Drill:

 counter=counter+1                 'Increase Counter Value

  IF counter = 330 THEN Change     'Set Boundry for Counter Value When Desending

    FOR temp = 0 TO 10             'Drill Rotation per Counter

     PULSOUT DrlServo,900          'Degree Rotation

      PAUSE 10                     'Time to Activate

    NEXT

GOTO drill



Change:

 counter = 0                       'Reset Counter

GOTO Up



Up:

 counter=counter+1                 'Increase Counter

  IF counter = 370 THEN Prepare    'Set Boundry for Counter Value When Rising

   FOR temp = 0 TO 10              'Drill Rotation per Counter

    PULSOUT DrlServo,200           'Degree Rotation

     PAUSE 10                      'Time To Activate

   NEXT

GOTO Up
'-------------------------------Prepare to Release Seeds------------------------------



Prepare:

 LOW RtHB1                         'Move Right Wheel Forward
 HIGH RtHB2

 LOW LftHB1                        'Move Left Wheel Forward
 HIGH LftHB2

  PAUSE 1100                       'Time of Forward Movement

 LOW RtHB2                         'Stop Right Wheel
 LOW LftHB2                        'Stop Left Wheel

  PAUSE 10

GOTO Seeder                        'Given Time to Change

'------------------------------------Release Seeds------------------------------------------


Seeder:

 FOR temp = 0 TO 10               'Opening Speed

  PULSOUT SdrServo,900            'Servo Opening Measurement

   PAUSE 10                       'Time to Activate

 NEXT


 FOR temp = 0 TO 10               'Closing Speed

  PULSOUT SdrServo,750            'Servo Closing Measurement

   PAUSE 10                       'Time to Activate

 NEXT

GOTO WaterPump
'------------------------------------Water Seeds--------------------------------------------



WaterPump:

 HIGH  Water                      'Start Pump

  PAUSE  750                      'Time Pump is Active

 LOW  Water                       'Stop Pump

  PAUSE 100                       'Time given to Stop Pump

GOTO Repeat



'------------------------------------Repeat------------------------------------------------
Repeat:

GOTO Forward                      'Repeat From Beginning




'------------------------------------Turning Movement------------------------------------------
MiddleIR:

 DIR13=1                          'Present Pin 13 Value

  FREQOUT MidIR,1,38500           'Signal Middle IR Pin,Time to Send,Frequency


   HoldBit = IN13                 'HoldBit is the Input Value if the Middle IR Signal

    IF  HoldBit = 0 THEN GOTO IR  'Checking Objects Ahead

GOTO Stopping



IR:

 FREQOUT LftIR1, 1, 38500         'Check Objects to the Left
  LftIR2 = IN11

   IF LftIR2 = 0 THEN Right

 FREQOUT RtIR1,1,38500            'Check Objects to the Right
  RtIR2 = IN9

   IF RtIR2 = 0 THEN Left


    IF Number = 1 THEN Left       'Continuing Pattern

    IF Number = -1 THEN Right


Right:

 Number=Number+1                  'Increasing Number Value

  IF Number=2 THEN stopper        'Limit For Number

   HIGH RtHB1                     'Turn Right Wheel Backward
   LOW RtHB2

   LOW LftHB1                     'Turn Left Wheel Forward
   HIGH LftHB2

    PAUSE 2800                    'Time For Turning

   LOW RtHB1                      'Turn Right Wheel Forward
   HIGH RtHB2

   LOW LftHB1                     'Turn Left Wheel Forward
   HIGH LftHB2

    PAUSE 2200                    'Time to Go Forward

   HIGH RtHB1                     'Turn Right Wheel Backward
   LOW RtHB2

   LOW LftHB1                     'Turn Left Wheel Backward
   HIGH LftHB2

    PAUSE 2800                    'Time For Turning

GOTO Forward



Left:

 Number=Number-1                  'Decrease Number Value

  IF Number=-2 THEN stopper       'Limit Number Value

   LOW RtHB1                      'Turn Right Wheel Forward
   HIGH RtHB2

   HIGH LftHB1                    'Turn Left Wheel Backward
   LOW LftHB2

    PAUSE 2800                    'Time to Turn

   LOW RtHB1                      'Turn Right Wheel Forward
   HIGH RtHB2

   LOW LftHB1                     'Turn Left Wheel Forward
   HIGH LftHB2

    PAUSE 2200                    'Time to Go Forward

   LOW RtHB1                      'Turn Right Wheel Forward
   HIGH RtHB2

   HIGH LftHB1                    'Turn Left Wheel Backward
   LOW LftHB2

    PAUSE 2800                    'Time to Turn

GOTO Forward



stopper:

END                               'End Program