' {$STAMP BS2sx
}' {$PBASIC 2.5}
ADC VAR Word
CH VAR Byte
CNT VAR Byte
CNT = 0
PAUSE 1000
GOSUB Forward
DO
CH = 3 : GOSUB RD_ADC
IF (ADC < 100) THEN
DO
CH = 3 : GOSUB RD_ADC
LOOP UNTIL (ADC > 100)
CNT = CNT + 1 DEBUG DEC CNT
ENDIF
LOOP UNTIL (CNT > 19)
GOSUB Motor_OFF
STOP
'+++++ Analog to Digital Converter Procedure ++++++++++RD_ADC: LOW 10 : PAUSE 2: HIGH 10 SEROUT 10,240, [CH] SERIN 10,240,25,Error, [ADC.BYTE0,ADC.BYTE1] RETURN
Error: DEBUG "Error Reading", CR RETURN
"++++++++++++++++++++++++++++++++++++++++++++++++++++++
'+++++++++++++++Movement Procedure+++++++++++++++++++++Forward : HIGH 13 :LOW 12 : HIGH 15 :LOW 14 : RETURNBackward : HIGH 12 : LOW 13 : HIGH 14 : LOW 15 : RETURNS_Left : HIGH 13 : LOW 12 : HIGH 14 : LOW 15 : RETURNS_Right : HIGH 12 : LOW 13 : HIGH 15 : LOW 14 : RETURNT_Left : HIGH 12 : LOW 13 : LOW 15 : LOW 14 : RETURNT_Right: LOW 12: HIGH 13 : HIGH 15 : HIGH 14 : RETURNMotor_OFF : LOW 13 : LOW 12 : LOW 14 : LOW 15 : RETURN'+++++++++++++++++++++++++++++++++++++++++++++++++++++++
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