'-------------------------------------------------------
'  Name     : turtle-trans.bas                        
'  Compiler : PicBasic Pro - MicroEngineering Labs
'  Notes    : Robot control using the Linx 433LC series
'           : transmitter and receiver.
'           : Using on-chip analog to digital converters
'           : of the PIC 16C71 to read the position of 
'           : the two control stick potentiometers.               
'-------------------------------------------------------

' set PortA inputs.

trisa = %00011111

' PortB set as outputs. Pin 2 input  

trisb = %00000100   

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

include "modedefs.bas"

tx_baud        CON N2400
pot_y          VAR PORTA.0
pot_x          VAR PORTA.1
txmit          VAR portB.0
txmit_led      VAR portB.1
push_button    VAR PORTB.2
val_y          VAR BYTE
val_x          VAR BYTE

'------------------------------------------------------
' Set up the analog to digital converters

DEFINE ADC_BITS 8        ' Set number of bits in result
DEFINE ADC_CLOCK 3       ' Set clock source (rc = 3)
DEFINE ADC_SAMPLEUS 10   ' Set sampling time in microseconds
ADCON1 = 2               ' Set porta pins 0 and 1 to analog

start:

low txmit_led 

ADCIN 0,val_y      ' read A/D converter - porta.pin 0
ADCIN 1,val_x      ' read A/D converter - porta.pin 1

If val_y < 20 then
   high txmit_led 
   serout txmit,tx_baud,["ZA"]
endif

If val_y > 200 then 
   high txmit_led 
   serout txmit,tx_baud,["ZB"]
endif

If val_X < 20 then
   high txmit_led 
   serout txmit,tx_baud,["ZC"]
endif

If val_X > 200 then 
   high txmit_led 
   serout txmit,tx_baud,["ZD"]
endif

If push_button = 1 then 
   high txmit_led
   serout txmit,tx_baud,["ZE"]
endif

If ((val_y > 25) and (val_y < 190)) or ((val_x > 25) and (val_x < 190)) then
   serout txmit,tx_baud,["ZF"]
endif

goto start