Datasets:

introvoyz041
/

tinybasic

REM "Engine code, the pins of the Arduino motor shield"
DA=12: SA=3: BA=9
DB=13: SB=11: BB=8
REM "Servo and sensor pins"
TP=4: EP=5
SP=6
REM "Set the pins and PWM"
PINM DA,1: PINM BA,1
PINM DB,1: PINM BB,1
AWRITE SA,0: AWRITE SB,0
PINM TP,1: PINM EP,0
PINM SP,1
REM "some parameters, TT is step time, S is speed ie voltage"
TT=5
S=140
REM "Prep the servo forward"
A=90:  GOSUB 9100
REM "Input loop"
INPUT A$
GOSUB 8000: REM "call the turtle"
GOTO 1000
REM "The turtle code: A$ has a set of commands"
REM "Commands f,b,r,l and single digits for the distance"
REM "Prepare, set the speed and directions and hit the break"
DWRITE BA,1: DWRITE BB,1
AWRITE SA,S: AWRITE SB,S
DWRITE DA,0: DWRITE DB,0
REM "every character in A$ is a command"
WHILE LEN(A$)>0
C=A$: A$=A$(2)
IF C =>"0" AND C <="9" THEN TT=C-"0": CONT
SWITCH C
CASE "e": END
CASE "f": DWRITE DA,0: DWRITE DB,0
CASE "b": DWRITE DA,1: DWRITE DB,1
CASE "l": DWRITE DA,0: DWRITE DB,1
CASE "r": DWRITE DA,1: DWRITE DB,0
CASE "L": A=0:  GOSUB 9100:  GOSUB 9000: A=90:  GOSUB 9100: CONT
CASE "R": A=180:  GOSUB 9100:  GOSUB 9000: A=90:  GOSUB 9100: CONT
CASE "F":  GOSUB 9000: CONT
SWEND
REM "drive a bit, TT says how long"
DWRITE BA,0: DWRITE BB,0
DELAY 100+TT*100
DWRITE BA,1: DWRITE BB,1
GOSUB 9000: PRINT "Distance:",E
WEND
RETURN
REM "Measure the distance"
DWRITE TP,0: PULSE TP,10
E=PULSE(EP,1,100)/29*100/2
PRINT "Distance:",E
RETURN
REM "Set the servo angle"
DWRITE SP,0
P=40+A*200/180
FOR I=1 TO 40: DELAY 20: PULSE SP,P: NEXT
RETURN

	10 REM "Engine code, the pins of the Arduino motor shield"
	20 DA=12: SA=3: BA=9
	30 DB=13: SB=11: BB=8
	40 REM "Servo and sensor pins"
	50 TP=4: EP=5
	60 SP=6
	100 REM "Set the pins and PWM"
	110 PINM DA,1: PINM BA,1
	120 PINM DB,1: PINM BB,1
	130 AWRITE SA,0: AWRITE SB,0
	140 PINM TP,1: PINM EP,0
	150 PINM SP,1
	200 REM "some parameters, TT is step time, S is speed ie voltage"
	210 TT=5
	220 S=140
	300 REM "Prep the servo forward"
	310 A=90: GOSUB 9100
	1000 REM "Input loop"
	1010 INPUT A$
	1020 GOSUB 8000: REM "call the turtle"
	1030 GOTO 1000
	8000 REM "The turtle code: A$ has a set of commands"
	8010 REM "Commands f,b,r,l and single digits for the distance"
	8020 REM "Prepare, set the speed and directions and hit the break"
	8030 DWRITE BA,1: DWRITE BB,1
	8040 AWRITE SA,S: AWRITE SB,S
	8050 DWRITE DA,0: DWRITE DB,0
	8100 REM "every character in A$ is a command"
	8110 WHILE LEN(A$)>0
	8120 C=A$: A$=A$(2)
	8130 IF C =>"0" AND C <="9" THEN TT=C-"0": CONT
	8140 SWITCH C
	8150 CASE "e": END
	8160 CASE "f": DWRITE DA,0: DWRITE DB,0
	8170 CASE "b": DWRITE DA,1: DWRITE DB,1
	8180 CASE "l": DWRITE DA,0: DWRITE DB,1
	8190 CASE "r": DWRITE DA,1: DWRITE DB,0
	8200 CASE "L": A=0: GOSUB 9100: GOSUB 9000: A=90: GOSUB 9100: CONT
	8210 CASE "R": A=180: GOSUB 9100: GOSUB 9000: A=90: GOSUB 9100: CONT
	8220 CASE "F": GOSUB 9000: CONT
	8290 SWEND
	8300 REM "drive a bit, TT says how long"
	8310 DWRITE BA,0: DWRITE BB,0
	8320 DELAY 100+TT*100
	8330 DWRITE BA,1: DWRITE BB,1
	8340 GOSUB 9000: PRINT "Distance:",E
	8350 WEND
	8900 RETURN
	9000 REM "Measure the distance"
	9010 DWRITE TP,0: PULSE TP,10
	9020 E=PULSE(EP,1,100)/29*100/2
	9030 PRINT "Distance:",E
	9040 RETURN
	9100 REM "Set the servo angle"
	9110 DWRITE SP,0
	9120 P=40+A*200/180
	9130 FOR I=1 TO 40: DELAY 20: PULSE SP,P: NEXT
	9140 RETURN