'------------------------------------------------------
'  Name     : Frog-test.bas                        
'  Compiler : PicBasic Pro MicroEngineering Labs
'  Notes    : Program to test the main controller 
'           : board by flashing LED's, producing 
'           : sounds and slowly rotating the servos                 
'------------------------------------------------------

' set porta to inputs
trisa = %11111111

' set portb pins 2 & 3 to inputs 
trisb = %00001100                   

'------------------------------------------------------
' initialize variables

servo_pos_l   VAR BYTE
servo_pos_r   VAR BYTE
timer1        VAR BYTE
timer2        VAR BYTE
timer3        VAR BYTE
temp1         VAR BYTE
servo_r       VAR PORTB.5
servo_l       VAR PORTB.6
switch_r      VAR PORTA.4
switch_l      VAR PORTA.3
led_l         VAR PORTB.1
led_r         VAR PORTB.0
piezo         VAR PORTB.4

'------------------------------------------------------

low servo_l
low servo_r

start:

for temp1 = 1 to 10
     SOUND piezo, [80,4,100,2]
     low led_l
     low led_r
     pause 50
     high led_l
     high led_r
next temp1

SOUND piezo, [100,4,120,2,80,2,90,2]

low led_l
low led_r

rotate:

servo_pos_r = 170
gosub right_servo

servo_pos_l = 130
gosub left_servo

goto rotate

'------------------------------------------------------
' subroutines to set servos

both_servo:                           
       for timer1 = 1 to 15
       pulsout servo_l,servo_pos_l
       pulsout servo_r,servo_pos_r
       pause 6
       next timer1
return

left_servo:
      for timer2 = 1 to 10
      pulsout servo_l,servo_pos_l
      pause 6
      next timer2
return

right_servo
     for timer3 = 1 to 10
     pulsout servo_r,servo_pos_r
     pause 6
     next timer3
return

end