'******************************************************
'********************************************************
'This simple program uses one sharp sensor to determine if something
' is in the happy range. ESRA like company and smiles when somebody is
' around. Don't get too close, ESRA has it's personal space
'******************************************************
'@ Platform: NetMedia BasicX 24
'@ Version: 1.0
'@ Author: Brian Patton (brianp@robodyssey.com)
' Robodyssey Systems, LLC. - www.robodyssey.com
'@ Last Updated: Oh Gosh...who knows.

'******************************************************
'***************** Materials **************************
'
' One Robodyssey Advanced Motherboard
' One Sharp sensor
' One Robodyssey ESRA
'******************************************************
'********************************************************
Option Explicit
Const UpperLip as Byte = 6 ' Pin upper lip servo connects
Const LowerLip as Byte = 5 ' Pin lower lip servo connects
Const EyeLid as Byte = 7 ' Pin Eye Lid servo connects
Const EyeMove as Byte = 8 ' Pin Eye movement servo connects
Const IRSensor as Byte = 13 ' Pin Sharp IR sensor connects
Dim value as Integer ' variable to hold IR input values

'*********************************************************
Public Sub Main()
Do
Call SensorIn ' Main Loop....Keep checking sensor
Loop
End Sub
'*********************************************************
Sub SensorIn () ' First check to see if something too close
value = GetADC(IRSensor) ' Get in data from sharp sensor
If value > 225 Then ' If greater than this then
Call Suprise ' Call the suprise routine
Else ' or.....
Call Divide ' A cheesy way to seperate the date further
End If ' End If process
End Sub
'*********************************************************
Sub Divide() ' Then check if just right or too far
If value > 85 then ' Process the next layer of data from the IR sensor
Call Smile ' Call smile
Else
Call Apathy ' Default is apathy
End If
End Sub
'*********************************************************
Sub Smile ()
Dim t as integer
For t = 1 To 10 ' Timer for smile duration
Call PulseOut(EyeLid, 0.0013, 1 ) ' Pulse Eylid servo approx .0016 center
Call PulseOut(UpperLip, 0.0021, 1) ' Pulse Upperlip
Call PulseOut(LowerLip, 0.0013, 1) ' Pulse Lower Lip
Call Delay(0.018) ' Delay to cause pulse width cycle
Next
End Sub
'*********************************************************
Sub Apathy ()
Dim u as integer
For u = 1 to 15 ' Timer for smile duration
Call PulseOut(EyeLid, 0.0014, 1 ) ' Pulse Eylid servo
Call PulseOut(UpperLip, 0.0015, 1) ' Pulse Upperlip
Call PulseOut(LowerLip, 0.0015, 1) ' Pulse Lower Lip
Call Delay(0.018) ' Delay to cause pulse width cycle
Next
End Sub
'*********************************************************
' This routine causes the lips to curve up like a O then the
' eyes look back and forth. lastly it shuts it's eyes and
' hopes you go away.
Sub Suprise ()
Dim v as integer
For v = 1 to 10
Call PulseOut(EyeLid, 0.0012, 1 )
Call PulseOut(UpperLip, 0.0009, 1)
Call PulseOut(LowerLip, 0.0011, 1)
Call Delay(0.018)
Next
For v = 1 to 15
Call PulseOut(EyeMove, 0.0013, 1 )
Call Delay(0.018)
Next
For v = 1 to 15
Call PulseOut(EyeMove, 0.0018, 1 )
Call Delay(0.018)
Next
For v = 1 to 10
Call PulseOut(EyeMove, 0.0015, 1 )
Call Delay(0.018)
Next
For v = 1 to 50
Call PulseOut(EyeLid, 0.0017, 1 )
Call PulseOut(UpperLip, 0.0009, 1)
Call PulseOut(LowerLip, 0.0016, 1)
Call Delay(0.018)
Next
End Sub