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

ir_det_pin CON 8
pause_time CON 20
active_low CON 0

ir_detect VAR IN8

ir_pulse VAR Word
counter VAR Nib
type VAR Nib
pulse_delay_time CON 2

debounce_time CON 20
ir_message VAR Byte
active_high CON 1
decimal_value VAR Word

main:
IF ir_detect = 1 THEN main
GOSUB find_and_display_start_pulse
GOSUB check_for_stop_bit
GOSUB convert_to_binary_number_display
GOSUB program_select
GOTO main

find_and_display_start_pulse:

FOR counter = 0 TO 15
PULSIN ir_det_pin,active_low,ir_pulse(0)
NEXT

RETURN

check_for_stop_bit:
PULSIN ir_det_pin,active_high,ir_pulse(0)
IF ir_pulse(0) > 1400 AND ir_pulse(0) <> 0 THEN continue
GOTO check_for_stop_bit

continue:
PULSIN ir_det_pin,active_low,ir_pulse(0)
PULSIN ir_det_pin,active_low,ir_pulse(1)
PULSIN ir_det_pin,active_low,ir_pulse(2)
PULSIN ir_det_pin,active_low,ir_pulse(3)
PULSIN ir_det_pin,active_low,ir_pulse(4)
PULSIN ir_det_pin,active_low,ir_pulse(5)
PULSIN ir_det_pin,active_low,ir_pulse(6)
PULSIN ir_det_pin,active_low,ir_pulse(7)
PULSIN ir_det_pin,active_low,ir_pulse(8)
PULSIN ir_det_pin,active_low,ir_pulse(9)
PULSIN ir_det_pin,active_low,ir_pulse(10)
PULSIN ir_det_pin,active_low,ir_pulse(11)

RETURN

convert_to_binary_number_display:
FOR COunter = 0 TO 10
LOOKDOWN ir_pulse(counter), < [400,800],
ir_message.LOWBIT(counter)

NEXT

RETURN

program_select:

IF (ir_message = %00000100) THEN stop0
IF (ir_message = %00000001) THEN front0
IF (ir_message = %00000011) THEN left0
IF (ir_message = %00000101) THEN right0
IF (ir_message = %00000111) THEN back0
IF (ir_message = %00000110) THEN area_cover
IF (ir_message = %00001000) THEN wall

RETURN

stop0:
DO
IF ir_detect = 0 THEN main
LOOP

front0:
PULSOUT 14, 649
PULSOUT 15, 892
PAUSE 20
GOTO main

back0:
PULSOUT 14, 850
PULSOUT 15, 650
PAUSE 20
GOTO main

left0:
PULSOUT 14, 650
PULSOUT 15, 725
PAUSE 20
GOTO main

right0:
PULSOUT 14, 775
PULSOUT 15, 850
PAUSE 20
GOTO main

'------Variables------
irmid VAR Bit
irleft VAR Bit
irright VAR Bit
irback VAR Bit
x VAR Word
a VAR Word
v VAR Word
w VAR Word
n VAR Byte
m VAR Byte

'------Constants-------
freq CON 38500


Area_Cover:
IF ir_detect = 0 THEN main


'------IR Readings-----
FREQOUT 6, 1, freq
irmid = IN4

'------Maneuvers------

IF irmid = 0 THEN turn

PULSOUT 14, 649
PULSOUT 15, 892
PAUSE 20

GOTO Area_Cover

turn:
x = x + 1
a = (x / 2) * 2
IF (x = a) THEN left
IF (x <> a) THEN right

right:
FOR n = 1 TO 220
PULSOUT 14, 743
PULSOUT 15, 850
PAUSE 20
NEXT

GOTO Area_Cover

left:

FOR x = 1 TO 209
PULSOUT 14, 650
PULSOUT 15, 757
PAUSE 20
NEXT

FOR x = 1 TO 65
PULSOUT 14, 649
PULSOUT 15, 892
PAUSE 20
NEXT

FOR x = 1 TO 65
PULSOUT 14, 725
PULSOUT 15, 892
PAUSE 20
NEXT

GOTO Area_Cover

'--------------------------------------------

wall:
IF ir_detect = 0 THEN main
FREQOUT 6, 1, freq '38500
IF IN4 = 0 THEN turn1

forward1:
PULSOUT 14, 649
PULSOUT 15, 892
PAUSE 20

GOTO wall

turn1:
FREQOUT 2, 1, freq '38500
irright = IN0

FREQOUT 10, 1, freq '38500
irleft = IN9

PAUSE 1000

IF irright = 0 THEN left1

IF irleft = 0 THEN right1


GOTO wall

'--------Maneuvers------------
right1:          'Right Turn
FOR m = 1 TO 116
PULSOUT 14, 743
PULSOUT 15, 850
PAUSE 20
IF ir_detect = 0 THEN main
NEXT

FOR m = 116 TO 220
PULSOUT 14, 649
PULSOUT 15, 850
PAUSE 20
IF ir_detect = 0 THEN main
NEXT
GOTO back1

left1:            'Left Turn
FOR m = 1 TO 116
PULSOUT 14, 650
PULSOUT 15, 757
PAUSE 20
IF ir_detect = 0 THEN main
NEXT

FOR m = 116 TO 220
PULSOUT 14, 649
PULSOUT 15, 850
PAUSE 20
IF ir_detect = 0 THEN main
NEXT
GOTO back1

back1:            'Move Backwards
PULSOUT 14, 850
PULSOUT 15, 650
PAUSE 20
IF ir_detect = 0 THEN main
FREQOUT 7, 1, freq '38500
IF 0 = IN5 THEN forward1
GOTO back1