Datasets:

introvoyz041
/

tinybasic

REM "engine code, the pins of the Arduino motor shield"
DA=19: SA=25: BA=13
DB=18: SB=23: BB=12
TP=17: EP=16
REM "set the pins, Dx is direction, Bx is break"
PINM DA,1: PINM BA,1
PINM DB,1: PINM BB,1
AWRITE SA,0: AWRITE SB,0
PINM TP, 1: PINM EP, 0
REM "some parameters, TT is step time, S is speed ie voltage"
TT=5
S=140
REM "Test code"
INPUT A$
GOSUB 8000
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: GOSUB 9000
CASE "b": DWRITE DA,1: DWRITE DB,1: GOSUB 9000
CASE "l": DWRITE DA,0: DWRITE DB,1: GOSUB 9000
CASE "r": DWRITE DA,1: DWRITE DB,0: GOSUB 9000
SWEND
REM "Report the distance after each command"
DWRITE TP,0: PULSE TP,10
E=PULSE(EP,1,100)/29*100/2
PRINT "Distance:",E
WEND
RETURN
REM "drive a bit, TT says how long"
DWRITE BA,0: DWRITE BB,0
DELAY 100+TT*100
DWRITE BA,1: DWRITE BB,1
RETURN

	10 REM "engine code, the pins of the Arduino motor shield"
	20 DA=19: SA=25: BA=13
	30 DB=18: SB=23: BB=12
	40 TP=17: EP=16
	100 REM "set the pins, Dx is direction, Bx is break"
	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
	200 REM "some parameters, TT is step time, S is speed ie voltage"
	210 TT=5
	220 S=140
	1000 REM "Test code"
	1010 INPUT A$
	1020 GOSUB 8000
	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: GOSUB 9000
	8170 CASE "b": DWRITE DA,1: DWRITE DB,1: GOSUB 9000
	8180 CASE "l": DWRITE DA,0: DWRITE DB,1: GOSUB 9000
	8190 CASE "r": DWRITE DA,1: DWRITE DB,0: GOSUB 9000
	8200 SWEND
	8400 REM "Report the distance after each command"
	8410 DWRITE TP,0: PULSE TP,10
	8420 E=PULSE(EP,1,100)/29*100/2
	8430 PRINT "Distance:",E
	8500 WEND
	8900 RETURN
	9000 REM "drive a bit, TT says how long"
	9010 DWRITE BA,0: DWRITE BB,0
	9020 DELAY 100+TT*100
	9030 DWRITE BA,1: DWRITE BB,1
	9040 RETURN