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Subroutine List
Click on the link to find the subroutine - or use the Next / Back buttons to scroll through    You'll have to adjust subroutines "fwdsteer" and "revsteer" after copying.

 

 





Subroutine swonoff - waits for right microswitch to be pressed and released

Subroutine"swonoff" starts here This IF tests whether the right switch is NOT pressed Loop if not pressed Loop if not pressed Go on if it is pressed This IF tests whether the right switch IS pressed Loop if still pressed Loop if still pressed Subroutine SWONOFF exits here. Flow returns to the main program. not pressed, so go on

BASIC:
'--This subroutine must be after the main program
'-------------------------------------------------
swonoff:
        do while input1=0  'wait till switch pressed                     
        loop 
        do while input1=1  'wait till switch released
        loop 

        return             'return to main program
'-------------------------------------------------
                      

This subroutine is explained in Worksheet 103
Subroutine fwd - moves forward a small distance
Subroutine "fwd" starts here This output turns on both motors forwards This runs forward 1/10 second Stop both motors Return to main program BASIC:



  
'--This subroutine must be after the main program




'-------------------------------------------------
fwd:
        let pins=%01010000  'both motors forwards
        pause 100           'let them run 
'------
        let pins=0          'stop motors
        return              'return to main program
'-------------------------------------------------

 

      





   



















  

    
Subroutine fwdsteer -  moves forward a small distance in a straight line
    
    
    
    
    
  







 

 Subroutine "fwdsteer" starts here 
 This output turns on both motors forwards 
 This runs forward 1/10 second 

 spin right or left to suit your buggy 
 Adjust this pause to give the right amount of spin 
 Subroutine "fwdsteer" exits here, 
   
 Both motors off 




BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
fwdsteer:
        let pins=%01010000  'both motors forwards
        pause 100           'let them run 
' * * * adjust these next three lines * * * 
'------
        let pins=%XXXX0000  'spin left/right
        pause x             'amount of spin
'       pause 0             ' uncomment this for half units.        
'------
        let pins=0          'stop motors
        return              'return to main program
'-------------------------------------------------

 

      





   




This subroutine is explained in Worksheet
104

You'll have to adjust subroutine "fwdsteer" after copying, to suit 
your particular buggy












  

    
Subroutine rev - moves  a small 
distance backwards
    
    
    
    
    
  








 


 Subroutine "rev" starts here 
 This output Turns on both motors backwards 
 This runs backward 1/10 second 

 Left or right spin according to your buggy 
 Pause to allow the right amount of spin 
 Stops both motors 
 Subroutine "rev" exits here, 
   





BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
rev:
        let pins=%10100000  'both motors  rev
        pause 100           'let them run
'------
        let pins=0          'stop motors
        return              'return to main program
'-------------------------------------------------
 

      





   


















  

    
Subroutine revsteer - moves  a small 
distance backwards in a straight line
    
    
    
    
    
  








 


 Subroutine "revsteer" starts here 
 This output Turns on both motors backwards 
 This runs backward 1/10 second 

 Left or right spin according to your buggy 
 Pause to allow the right amount of spin 
 Stops both motors 
 Subroutine "revsteer" exits here, 
   





BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
revsteer:
        let pins=%10100000  'both motors  rev
        pause 100           'let them run
' * * * adjust these next three lines * * * 
'------
        let pins=%xxxx0000  'spin left/right
        pause x             'amount of spin
'       pause 0             ' uncomment this for half units.   
'------
        let pins=0          'stop motors
        return              'return to main program
'-------------------------------------------------
 

      





   


You'll have to adjust subroutine "revsteer" after copying, to suit 
your particular buggy















  

    

Subroutine spin180L - spins buggy 180 degrees to the left 
    
    
    
    
    
  








 
 


 Subroutine "spin180L" starts here 
 This output switches on left motor backwards, right motor forwards

 Adjust this pause to give the right amount of spin 
 This output box Turns off both motors 

  Subroutine "spin180L" exits here, 
   




BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
spin180L:
        let pins=%01100000  'left rev, right forward
        pause 2000          'let them run
        let pins=%00000000  'stop motors
        return              'return to main program
'-------------------------------------------------
 

      




   





The pause will need adjustment to get exactly 180 degrees, on 
your particular buggy



 












  

    








Subroutine flash 



- Turns LEDs ON then 
OFF
    
    
    
    
  









 


BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
flash:
        high 1,2            'Right & left LEDs on
        pause 500           
        low 1,2             'Right & left LEDs off
        pause 500
        return              'return to main program
'-------------------------------------------------
 

      




   


 
 


 










    

  










Subroutine 


fwdb0   -moves forward a controlled distance in a straight
  line
    
    







 
    
    
    
    
  











 

 Subroutine "fwdb0" starts here 
 call fwd subroutine to move forward a bit 
 count down by one 

 keep looping if count not zero 
 Subroutine "fwdb0" exit here 
 Subroutine "fwdb0" exits here,
with the buggy STOPPED (no motors running).
Flow  returns to the main  program. 
   






BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
fwdb0:
        do while b0>0       'loop as long as B0 isn't 0
          gosub fwd           'move forward one unit
          dec b0              'count down
        loop
        return              'return to main program
'-------------------------------------------------
 






   




This subroutine is explained in Worksheet
106







 










    

    

  










Subroutine
measure   -moves 
forward counting in b0, 
    


    till it hits something.
    

    







 
    
    
    
    
  











 


 Subroutine "measure" starts here 
 call fwd subroutine to move forward a bit 
 count up by one 

 keep looping if not touching wall 
 Subroutine "measure" exit here 
 start count at zero 
   





BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
measure:
        let b0=0         'start count at zero
'loop as long as *BOTH* switches are not touching a wall
        do while input1=0 and input0=0
          gosub fwd         'move forward one unit
          inc b0            'count up
        loop 
        return              'return to main program
'-------------------------------------------------
 






   




This subroutine is explained in
Worksheet
107







 







    

    

  







Subroutine reach - moves forward counting down in b0, till the count is zero

 -OR- until it hits something.		

    







 
    
    
    
    
  











 


 Subroutine "reach" starts here 
 call fwd subroutine to move forward a bit 
 count up by one 

 keep looping if not touching wall 
 Subroutine "reach" exit here 
 start count at zero 
   





BASIC:


  







  
'--This subroutine must be after the main program




'-------------------------------------------------
reach:
' loop as long as b0 isn't 0 and  neither switch is pressed
        do while b0>0 and input1=0 and input0=0
          gosub fwd           'move forward one unit
          dec b0              'count down
        loop 
        return              'return to main program
'-------------------------------------------------
 






   












 






Content Scl Version 21/06/2008