Picaxe Versabot, Manual

Page: 32 / 33

ObeyIrCommand:
select case keyPressed
case KEY_UP : gosub GoForward
case KEY_DOWN : gosub GoBackwards
case KEY_LEFT : gosub TurnLeft
case KEY_RIGHT : gosub TurnRight
case KEY_POWER : gosub StopMotors
case KEY_0 : motorSpeed = 70
case KEY_1 : motorSpeed = 90
case KEY_2 : motorSpeed = 110
case KEY_3 : motorSpeed = 130
case KEY_4 : motorSpeed = 150
case KEY_5 : motorSpeed = 170
case KEY_6 : motorSpeed = 190
case KEY_7 : motorSpeed = 210
case KEY_8 : motorSpeed = 230
case KEY_9 : motorSpeed = 255
else : return
end select
gosub WaitWhileKeyHeld
return
GoForward:
serout LeftMotor,T2400,("A",motorSpeed)
serout RightMotor,T2400,("C",motorSpeed)
return
GoBackwards:
serout LeftMotor,T2400,("C",motorSpeed)
serout RightMotor,T2400,("A",motorSpeed)
return
TurnLeft:
serout LeftMotor,T2400,("C",motorSpeed)
serout RightMotor,T2400,("C",motorSpeed)
return
TurnRight:
serout LeftMotor,T2400,("A",motorSpeed)
serout RightMotor,T2400,("A",motorSpeed)
return
StopMotors:
pulsout LeftMotor,6 ' Brake Left Motor
pulsout RightMotor,6 ' Brake Right Motor
return
WaitWhileKeyHeld: ' Wait until IR key released
timeout = 0
do
inc timeout
if IR_SIGNAL = 0 then
timeout = 0
end if
pause 1
loop until timeout > 25
return