'-------------------------------------------------
' Name     : Arm-voice.bas
' Compiler : PicBasic Pro - MicroEngineering Labs 
' Notes    : Robot arm / Voice direct 364
'-------------------------------------------------

TRISB = %00000000
TRISA = %11111111   

DEFINE OSC 4

include "modedefs.bas"

Led             VAR PORTA.4
Baud            CON N2400
Com_In          VAR PORTA.0
Com_Out         VAR PORTA.1
Control         VAR BYTE
increment       var Byte
I               var byte
S0              VAR BYTE
S1              VAR BYTE
S2              VAR BYTE
S3              VAR BYTE
S4              VAR BYTE
S5              VAR BYTE
S6              VAR BYTE
S7              VAR BYTE

LOW PORTB.0
LOW PORTB.1
LOW PORTB.2
LOW PORTB.3
LOW PORTB.4
LOW PORTB.5
LOW PORTB.6
LOW PORTB.7
HIGH Led

S0 = 127
S1 = 111 
S2 = 144
S3 = 65
S4 = 127
S5 = 127
S6 = 127
S7 = 127
increment = 1
control = 11

Start:

    SERIN Com_In,Baud,7,Set_Pos,[255],Control

'----------- Base -----------
    if Control = 1 then
        S0 = S0 - increment
        If S0 < 40 then S0 = 40
    endif    
    if Control = 2 then
        S0 = S0 + increment
        If S0 > 230 then S0 = 230
    endif
'----------- Shoulder -----------
    if Control = 3 then
        S1 = S1 - increment
        If S1 < 40 then S1 = 40
        S2 = 254 - S1
    endif    
    if Control = 4 then
        S1 = S1 + increment
        If S1 > 230 then S1 = 230
        S2 = 254 - S1
    endif
'----------- Elbow -----------    
    if Control = 5 then
        S3 = S3 + increment
        If S3 > 230 then S3 = 230
    endif    
    if Control = 6 then
        S3 = S3 - increment
        If S3 < 40 then S3 = 40
    endif
'----------- Wrist -----------    
    if Control = 7 then
        S4 = S4 - increment
        If S4 < 40 then S4 = 40
        S5 = 254 - S4
    endif    
    if Control = 8 then
        S4 = S4 + increment
        If S4 > 230 then S4 = 230
        S5 = 254 - S4
    endif
'----------- Wrist -----------
    if Control = 9 then
        S6 = S6 + increment
        If S6 > 230 then S6 = 230
    endif    
    if Control = 10 then
        S6 = S6 - increment
        If S6 < 40 then S6 = 40
    endif
'----------- Gripper -----------
    if Control = 11 then       
        S7 = S7 - increment
        If S7 < 10 then S7 = 10
    endif    
    if Control = 12 then
        S7 = S7 + increment
        If S7 > 230 then S7 = 230
    endif

Set_Pos:

    PULSOUT PORTB.0,S0
    PULSOUT PORTB.1,S1
    PULSOUT PORTB.2,S2
    PULSOUT PORTB.3,S3
    PULSOUT PORTB.4,S4
    PULSOUT PORTB.5,S5
    PULSOUT PORTB.6,S6
    PULSOUT PORTB.7,S7

Goto start