'********************************************************
'************Smaller Than Normal Mouse*******************
'Smaller Than Normal Mouse w/ Forward Sharp Sensor
'@ Version 1.0
'@ Author: Brian Patton
'@ Last Updated: April  17, 2004 
'********************************************************
'************* Declare Constants ************************

'Each Servo may be slightly different but these two are:
'Left center is 0.00183, Slow Forward is .00175  Fast Forward = 0.00165 
'Right Center = 0.0018, Slow Forward is .0019  Fast Forward = 0.002

Public Const Left_Forward As Single = 0.00165
Public Const Right_Forward As Single = 0.002 	'Bigger Faster 

Public Const Left_Reverse As Single = 0.00195	'Bigger Faster Reverse
Public Const Right_Reverse As Single = 0.0017	'Smaller Faster Revers

'Servo Pins
Public Const LeftServo As Byte = 5
Public Const RightServo As Byte = 6

'IR Pin
Const IRPin As Byte = 13				' (Pin #8 on RAMB)

Public Const Speed As Single = 0.02

Dim i As Integer
Dim Sensorvalue as Integer				' Value sensor receives
Dim Sensorave as Integer				' Average value of sensor

'******************************************************
'****************** Start of Main Loop ****************

Sub Main()
Delay(3.0)
Do
		Call PulseOut(LeftServo, Left_Forward, 1)
		Call PulseOut(RightServo, Right_Forward, 1)
		Call CheckSensors()
		Delay(Speed)
loop
End Sub

'******************************************************
'****************** Check Sensors *********************

Sub CheckSensors()

Sensorvalue = GetADC(IRPin)+GetADC(IRPin)+GetADC(IRPin)
					' Get three IR readings
Sensorave = Sensorvalue \ 3			' Devide them by 3 to get the average
					' Helps eliminate some error 
If Sensorave > 400 Then			' See if something is too close
	Call Right 			' Call right 
End If					' End of too close senario

If Sensorave < 200 Then	' See if something is too far like an edge
	Call Left 			' Call right 
End If					' End of too far senario

End Sub

'******************************************************
'****************** Turn Right ************************

Sub Right()
Dim i As Integer
		For i = 1 to 10

		Call PulseOut(LeftServo, Left_Reverse, 1)
		Call PulseOut(RightServo, Right_Reverse, 1)
		Delay(Speed)
	Next
	For i = 1 to 15
		Call PulseOut(LeftServo, Left_Reverse, 1)
		Call PulseOut(RightServo, Right_Forward, 1)
		Delay(Speed)
	Next
	
End Sub

'******************************************************
'****************** Turn Left *************************

Sub Left()

Dim i As Integer

	For i = 1 to 10
		Call PulseOut(LeftServo, Left_Reverse, 1)
		Call PulseOut(RightServo, Right_Reverse, 1)
		Delay(Speed)
	Next
	For i = 1 to 15
		Call PulseOut(LeftServo, Left_Forward, 1)
		Call PulseOut(RightServo, Right_Reverse, 1)
		Delay(Speed)
	Next
	
End Sub
'*********************************************************