Justin Ratliff's ping robot article

GOSUB bumpck 'don't stay bumped into it = highest priority

GOSUB act 'acts on highest priority movement needed

' i.e. last to set direction

GOTO main

wander: 'randomly wander around

IF wDur > 0 THEN wDone1

RANDOM seed 'random direction

i = seed & %111 'mask off for 0-7 only

LOOKUP i,[fd,tl,fd,fd,fd,fd,tr,fd],wDir 'chose direction

seed = seed + i

wDur = (seed & %111111) + 20 'mask for 64 choices of duration

wDone1:

wDur = wDur - 1 'decrement wander counter

drive = wDir 'get direction

PULSOUT NECK, 900

LOW LED

RETURN 'completed

act: 'moves servo motors

IF aDur > 0 THEN aDec 'already doing one, got here

aDur = SACT '# of main loops between pulseouts +1

PULSOUT LEFT,ldrive * 10

PULSOUT RIGHT,rdrive * 10

aDec: aDur = aDur - 1 'decrement act loop cntr

RETURN

avoid:

PULSOUT 7, 5

PULSIN 7, 1, time

time = time ** 2251

IF time > 0062 THEN avdone

avfront:

HIGH LED

avDir = rl 'rotate away

avDur = 15

drive = rl

GOTO avdone

avdone:

RETURN

bumpck:

IF bumper = 0 THEN bmpnow

IF bDur > 0 THEN bmpact