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Program '{$STAMP
BS2} '{$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 front0: FOR x = 1 TO
5 PULSOUT 14,
649 PULSOUT 15,
892 PAUSE 20 NEXT GOTO main back0: FOR x = 1 TO
5 PULSOUT 14,
850 PULSOUT 15,
650 PAUSE 20 NEXT GOTO main left0: FOR x = 1 TO
3 PULSOUT 14,
650 PULSOUT 15,
725 PAUSE 20 NEXT GOTO main right0: FOR x = 1 TO
3 PULSOUT 14,
775 PULSOUT 15,
850 PAUSE 20 NEXT 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 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 IF irright =
0 THEN left1 IF irleft =
0 THEN right1 GOTO wall '--------Maneuvers------------ right1: FOR m = 1 TO
140 PULSOUT 14,
743 PULSOUT 15,
850 PAUSE 20 NEXT '--------straighten roller----- FOR m = 1 TO
85 PULSOUT 14,
649 PULSOUT 15,
892 PAUSE 20 NEXT FOR m = 1 TO
65 PULSOUT 14,
649 PULSOUT 15,
765 PAUSE 20 NEXT GOTO back1 left1: FOR m = 1 TO
150 PULSOUT 14,
650 PULSOUT 15,
757 PAUSE 20 NEXT FOR m = 1 TO
70 PULSOUT 14,
649 PULSOUT 15,
892 PAUSE 20 NEXT FOR m = 1 TO
65 PULSOUT 14,
735 PULSOUT 15,
892 PAUSE 20 NEXT GOTO back1 back1: PULSOUT 14,
850 PULSOUT 15,
650 PAUSE 20 FREQOUT 7,
1, 38500 IF 0 = IN5
THEN forward1 GOTO back1 |