'--------------------------------------------------------------
'  file: Tuna-d001.BAS
'  KAH 11/22/2004
'  For Atmel 90s2313-based TTT board Tuna-can wheeled robot
'--------------------------------------------------------------
Dim A As Byte , B1 As Byte , C(3) As Byte , S1 As Byte
Dim S1low As Byte , S1hi As Byte
Dim L As Bit
Dim Lmotor As Byte , Rmotor As Byte
Dim Lmb As Byte , Rmb As Byte

Declare Sub Gets1()

Config Portd = &B0010010
'PD0 = RxD, Input
'PD1 = TxD, Output
'PD2 = IRPDR, Input
'PD3 = IRPDL, Input
'PD4 = LED, Output
'PD5,6 = Inputs

Printbin 02                                                 'reset and clear CRT
Printbin 12
Print "TTT 90S2313"

Lmb = 53
Rmb = 104

Open "comb.3:2400,8,n,1" For Output As #1
Printbin #1 , 0
Printbin #1 , Lmb
Printbin #1 , Rmb
Printbin #1 , 0

Print "Sumo Tuna D001" ; Chr(13)
Print "5 seconds..." ; Chr(13)
Wait 5

Print "Go!" ; Chr(13)

'Configure for software SPI
Config Spi = Soft , Din = Portb.6 , Dout = Portb.5 , Clock = Portb.7
Config Pinb.4 = Output
Spiinit

Call Gets1()
' pre-calc the offset for the edge detect
' +/- 15 from initial light sensor read mean edge
S1low = S1 - 15
S1hi = S1 + 15

Printbin #1 , 128

L = 1
' do forever
While L = 1

 Call Gets1()
 ' hit the line (bright)
 If S1 > S1hi Then
  B1 = Rmb - 4
  Printbin #1 , B1
  B1 = Lmb + 1
  Printbin #1 , B1
  Wait 1
  Printbin #1 , Lmb
  Printbin #1 , Rmb
 End If

 ' hit the line (dark)
 If S1 < S1low Then
  B1 = Rmb - 4
  Printbin #1 , B1
  B1 = Lmb + 1
  Printbin #1 , B1
  Wait 1
  Printbin #1 , Lmb
  Printbin #1 , Rmb
 End If

 B1 = Pind And &H0C

' check IR sensors
 If B1 = 0 Then
'  Print "no target"
  Lmotor = Lmb - 3
  Rmotor = Rmb + 2
 End If

 If B1 = 4 Then
'  Print "left"
  Lmotor = Lmb - 2
  Rmotor = Rmb - 2
 End If

 If B1 = 8 Then
'  Print "right"
  Lmotor = Lmb + 2
  Rmotor = Rmb + 2
 End If

 If B1 = 12 Then
'  Print "straight"
'  Attack!
  Lmotor = 127
  Rmotor = 1
 End If

 Printbin #1 , Lmotor
 Printbin #1 , Rmotor

 Waitms 20
Wend

Sub Gets1()
 Portb.4 = 0
 A = &B00001100
 Spiout A , 1
 Spiin C(1) , 2
 Portb.4 = 1
 Shift C(1) , Left , 4
 Shift C(2) , Right , 4
 S1 = C(2) Or C(1)
End Sub

Print "Completed" ; Chr(13)
End