'******************************************************
'***************** FOLLOWME1IR *************************
'IR Follow the Leader - ONE Sharp Infrared Detector (GP2D12)
'@ Platform: NetMedia BasicX 24
'@ Version: 2.0
'@ Author: Chris D. Odom (chris_odom@georgeschool.org)
' Robodyssey Systems, LLC. - www.robodyssey.com
'@ Last Updated: July 25, 2003

'******************************************************
'The Robodyssey Mouse uses ONE front mounted IR sensor to
'follow anything in front of it. Best when a book or other
'flat object is in front of Mouse.
'******************************************************
'May be freely distributed and modified, but must contain above information

Option Explicit

' The servos think 0.0015 is where it always is. So sending the servo a pulse width
' above or below that value makes the servo move forward or backward.
Public Const Left_Forward As Single = 0.001
Public Const Right_Forward As Single = 0.002
Public Const Left_Reverse As Single = 0.002
Public Const Right_Reverse As Single = 0.001

'Servo Pins
Public Const LeftServo As Byte = 5 ' (Pin #1 on RAMB)
Public Const RightServo As Byte = 6 ' (Pin #0 on RAMB)

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

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

Sub Main()
Do
' move forward
Call PulseOut(RightServo, Right_Forward, 3)
Call PulseOut(LeftServo, Left_Forward, 3)

' Check the sensor to see if anything is in front of the Mouse
Call CheckSensors()
Delay(0.0)
Loop
End Sub

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

Sub CheckSensors()
' Mouse will turn left until something is in front of it
Do while GetADC(IRPin) < 100
debug.print "No reflection!"

' turn left
Call PulseOut(LeftServo, Left_Forward, 1)
Call PulseOut(RightServo, Right_Reverse, 1)
Delay(0.08)
Loop

' Stop moving when Mouse gets too close to object
Do while GetADC(IRPin) > 300
' Stop
debug.print "Stop"
call putpin(25,0) ' turn red light on
Loop


call putpin(25,1) ' turn red light off

' Print current IR reading
debug.print "IR Reading: " & CStr(GetADC(IRPin))

End Sub