'------------------------------------------------------
'  Name     : Limit-switch.bas                        
'  Compiler : PicBasic Pro MicroEngineering Labs
'  Notes    : Program to monitor the status of the leg 
'           : position limit switches and turn on the  
'           : corresponding LED when triggered                 
'------------------------------------------------------

' 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 5
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

right:

if switch_r = 1 then 
   high led_r
else
   low led_r
endif

left:

if switch_l = 1 then
   high led_l
else
   low led_l
endif

goto right

end