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
TP=4: EP=5: SP=6
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 "The function for the servo and the echo, integer safe!"
DEF FNP(A)=40+A*200/180
DEF FNE(P)=P/29*100/2
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
CASE "L": GOSUB 10000: FOR I=1 TO 5: PRINT I,E(I): NEXT
SWEND
REM "Report the distance after each command"
GOSUB 11000: 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
REM "The look around code"
FOR J=1 TO 5
A=(J-1)*45: GOSUB 12000: GOSUB 11000: E(J)=E
NEXT
A=90: GOSUB 12000
RETURN
REM "Echo once and return the value in E"
DWRITE TP,0: PULSE TP,10
E=FNE(PULSE(EP,1,70))
RETURN
REM "The servo code"
DWRITE SP,0
FOR I=1 TO 40: DELAY 20: PULSE SP,FNP(A): 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 TP=4: EP=5: SP=6
	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
	300 REM "The function for the servo and the echo, integer safe!"
	310 DEF FNP(A)=40+A*200/180
	320 DEF FNE(P)=P/29*100/2
	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 CASE "L": GOSUB 10000: FOR I=1 TO 5: PRINT I,E(I): NEXT
	8390 SWEND
	8400 REM "Report the distance after each command"
	8410 GOSUB 11000: 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
	10000 REM "The look around code"
	10060 FOR J=1 TO 5
	10070 A=(J-1)*45: GOSUB 12000: GOSUB 11000: E(J)=E
	10120 NEXT
	10130 A=90: GOSUB 12000
	10190 RETURN
	11000 REM "Echo once and return the value in E"
	11010 DWRITE TP,0: PULSE TP,10
	11020 E=FNE(PULSE(EP,1,70))
	11030 RETURN
	12000 REM "The servo code"
	12010 DWRITE SP,0
	12020 FOR I=1 TO 40: DELAY 20: PULSE SP,FNP(A): NEXT
	12030 RETURN