'------------------------------------------------------
'  Name     : walk-routines.bas                        
'  Compiler : PicBasic Pro - MicroEngineering Labs
'  Notes    : various walking subroutines
'------------------------------------------------------

' PortA set as outputs. pins 0 and 1 inputs
trisa = %00000011

' PortB set as outputs. pin 1 input.   
trisb = %00000001   

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

include "modedefs.bas"

enable_right     VAR PORTB.1
forward_right    VAR PORTB.2
reverse_right    VAR PORTB.3
enable_left      VAR PORTB.4
reverse_left     VAR PORTB.5
forward_left     VAR PORTB.6
limit_left       VAR PORTA.0
limit_right      VAR PORTA.1
piezo            VAR PORTA.3
temp             VAR BYTE

low enable_left
low forward_left
low reverse_left

low enable_right
low forward_right
low reverse_right


SOUND PIEZO,[115,10,50,10]

start:

'------------------------------------------------------
' walking subroutines

walk_forward:

   For temp = 1 to 5
   
   ' move left leg

   high enable_left
   high forward_left
   pause 300

   while limit_left = 0
   wend

   low enable_left
   low forward_left

   ' move right leg

   high enable_right
   high forward_right
   pause 300

   while limit_right = 0
   wend
   
   low enable_right
   low forward_right

   next temp

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

turn_left:

   For temp = 1 to 5
   
   ' move left leg

   high enable_left
   high reverse_left
   pause 300

   while limit_left = 0
   wend

   low enable_left
   low reverse_left

   ' move right leg

   high enable_right
   high forward_right
   pause 300

   while limit_right = 0
   wend
   
   low enable_right
   low forward_right

   next temp   

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

walk_reverse:

   For temp = 1 to 5
   
   ' move left leg

   high enable_left
   high reverse_left
   pause 300

   while limit_left = 0
   wend

   low enable_left
   low reverse_left

   ' move right leg

   high enable_right
   high reverse_right
   pause 300

   while limit_right = 0
   wend
   
   low enable_right
   low reverse_right

   next temp   

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

turn_right:

For temp = 1 to 5

   ' move left leg

   high enable_left
   high forward_left
   pause 300

   while limit_left = 0
   wend

   low enable_left
   low forward_left

   ' move right leg

   high enable_right
   high reverse_right
   pause 300

   while limit_right = 0
   wend
   
   low enable_right
   low reverse_right

   next temp   

goto start

end