Justin Ratliff's ping robot article

a VAR Byte

PING CON 7 'PING sonar port

LEFT CON 3 'left wheel port

RIGHT CON 1 'right wheel port

NECK CON 2 'neck servo port

SPKR CON 8 'speaker port

LED CON 10 'LED mouth, this is not standard on all J2's

'These are for the servo routines

SACT CON 5 'times through act routine

drive VAR Word 'wheel command combo

ldrive VAR drive.BYTE1 'left wheel command

rdrive VAR drive.BYTE0 'right wheel command

aDur VAR Nib 'duration of pulsout

'normal list follows

rv CON $6432 'forward

fd CON $3264 'reverse

st CON $4d4d 'stop

tr CON $324d 'turn right

tl CON $4d64 'turn left

rl CON $6464 'rotate right

rr CON $3232 'rotate left

bl CON $644d 'backup turning left

'wander values

wDir VAR Word 'wander value

wDur VAR Byte 'wander duration

'avoid states and vars

avDir VAR Word 'direction

avDur VAR Nib 'duration

'bumper vars and constants

bumper VAR IN6 'bumper io pin

bstate VAR Nib 'bumper FSM state

bDir VAR Word 'bumper direction holder

bDur VAR Byte 'duration in that direction

'set up for running

wDur = 0 'clear wander duration

aDur = 0 'clear act loop counter

bDur = 1 'clear bumper duration, may need to change back to 0

bstate = 0

drive = st 'stop servo motors - not really needed

LOW LED

main: 'subsumption architecture

GOSUB wander 'random wander instinct is lowest priority

GOSUB avoid 'avoid running into stuff