'*****SAM ROBOT RUNNING PROGRAM  (Rev 6)
'*****MODIFIED REVISION WITH RADIO DIRECTION CONTROL
'*****INFRARED PROXIMTY SENSOR FOR OBJECT DETECTION
'*****ON PIN 11
'*****SPEAKER OUTPUT ON PIN 12
'*****HEAD MOTOR PIN 10
'*****LEFT MOTOR PIN 9
'*****RIGHT MOTOR PIN 8
'*****BY RCI COMPUTRONICS (ALL RIGHTS NOT IN MIND)

'*****setup all variables here******
x  		var  	word
maxpos   	con 	1100 	'max position
midpos   	con 	675 	'neutral position
minpos   	con 	300   'min position
c		con 	30	'time to delay for forward
b		con 	30	'time to delay for backup
a		con	110	'time delay for right 180
l		con	10	'time delay for left 90
r		con	10	'time delay for right 90
speaker     con 	15    'speaker out pin 15 of stamp
hs		con	10	'head servo output
ls		con	9	'left servo output
rs		con	8	'right servo output
ncount   	var	word
m	      var 	IN11  'motion input sensor
phon		var	byte
direct	var	inl
x=0	
dirh = %10010111
dirl = %00000000

start:  '******this is the start of program*******

gosub sound9
gosub rst

if m=0 then chill  '***If prox sensor tripped***

fl:     '*****this is the forward loop 

remote:

if direct=15 then remote
if direct=14 then fwd
if direct=13 then bk
if direct=11 then rt
if direct=12 then lt
if direct=10 then sound0
if direct=9 then hl
if direct=8 then hr
if direct=7 then sound4
goto remote

goto fl


lt:  '***************MOTOR LEFT***************

	for x= 1 to l
	pulsout ls,maxpos
	pulsout rs,maxpos
	pause 10
	next

goto remote

rt:  '***************MOTOR RIGHT***************

	for x= 1 to r
	pulsout ls,minpos
	pulsout rs,minpos
	pause 10
	next

goto remote

af:  '***************MOTOR RIGHT 180*********

pause 50
	for x= 1 to a
	pulsout ls,minpos
	pulsout rs,minpos
	pause 10
	next

goto remote


fwd: '***************MOTOR FORWARD***************
	
	for x= 1 to c
	if m=0 then chill
	pulsout ls,maxpos
	pulsout rs,minpos
	pause 10
	next

goto remote

bk:  '***************MOTOR BACKWARD***************

	for x= 1 to b
	pulsout ls,minpos
	pulsout rs,maxpos
	pause 10
	next

goto remote

hl:
'*********HEAD LEFT************
	
	gosub sound3
	for x= 1 to c
	pulsout hs,maxpos
	pause 10
	next
aa:
if direct=9 then aa 
gosub rst
return

hr:
'********HEAD RIGHT***********
	
	gosub sound3
	for x= 1 to c
	pulsout hs,minpos
	pause 10
	next
bb:
if direct=8 then bb
gosub rst	
goto remote

mid:
'********HEAD MID*************
	
	for x= 1 to c
	pulsout hs,midpos
	pause 10
	next

goto remote

rst:
'********HEAD RESET***********
	
	gosub sound3
	for x= 1 to c
	pulsout hs,midpos
	pause 10
	next

goto remote

goto start  '****return to the beginning of program*******

'*******************Sound Subroutines****************************

sound0:
   pause 10
   freqout speaker,140,4200		'this makes a bunch of sounds
   freqout speaker,90,3600
   freqout speaker,90,3800
   freqout speaker,30,3300
   freqout speaker,30,2800
   freqout speaker,30,2400
   freqout speaker,140,4200
   freqout speaker,90,2000
   freqout speaker,70,4200
return

sound1:
   pause 10
   freqout speaker,40,4400
   freqout speaker,20,3600
   freqout speaker,60,3500
   freqout speaker,30,4200
   freqout speaker,10,3800
   freqout speaker,90,3000
   freqout speaker,10,2400
   freqout speaker,40,4300
   freqout speaker,50,3800
   freqout speaker,20,2200
   freqout speaker,150,0
return

sound2:
   pause 10
   freqout speaker,100,2800
   freqout speaker,200,2400
   freqout speaker,140,4200
   freqout speaker,30,2000
return

sound3:
   pause 10
   freqout speaker,60,5200,4000
   freqout speaker,30,4200
   freqout speaker,60,5200,4000
   freqout speaker,30,4200
   freqout speaker,100,0
return

sound4
freqout speaker,800,391
freqout speaker,800,588
freqout speaker,150,521
freqout speaker,150,495
freqout speaker,150,439
freqout speaker,800,781
freqout speaker,800,588
freqout speaker,150,521
freqout speaker,150,495
freqout speaker,150,439
freqout speaker,800,781
freqout speaker,800,588
freqout speaker,150,521
freqout speaker,150,495
freqout speaker,150,521
freqout speaker,800,439
return

sound9:
   gosub chirp
   gosub sound0
   freqout speaker,150,0
   for ncount = 1 to 2
   gosub chirp
   pause 10
   next 
return

chirp:
   pause 10
   freqout speaker,14,4500
   freqout speaker,11,4200
   freqout speaker,14,4500
   freqout speaker,11,4200
   freqout speaker,14,4500
   freqout speaker,11,4200
   freqout speaker,14,4500
   freqout speaker,11,4200
   freqout speaker,150,0
return

chill:
pause 2000
return