Specifications

88
BACKUP transmit ‘K’ through serial port
Stop the motors
Delay
Turn both motors backwards
Start loop if left sensor clear, turn left then go forwards again
If right sensor clear, turn right then go forwards again
Repeat loop
Return to main
DELAY load a large number
Decrement it slowly
Return to main
COMP new line through serial port
Load accumulator with odometer count A
Compare with odometer count B
If B bigger than A branch to B2FAST
IF A bigger than B branch to A2FAST
A2FAST write ‘a’ through serial port
Compare motor A speed with a constant
If faster than constant slow it slightly
If slower than constant branch to FASTB
FASTB Increase motor B slightly
Return to main
B2FAST write ‘b’ through serial port
Compare motor B speed with a constant
If faster than constant slow it slightly
If slower than constant branch to FASTA
FASTA Increase motor A slightly
Return to main