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'*************** Bump Car ***************
program Car_628_Bump
'***********************************************
Sub Procedure Forward
PortB = %00000000
Delay_ms(5)
PortB = %11000101
Delay_ms(50)
end sub
'***********************************************
Sub Procedure Reverse
PortB = %00000000
Delay_ms(10)
PortB = %10100011
Delay_ms(50)
end sub
'***********************************************
Sub Procedure T_Left
PortB = %00000000
Delay_ms(10)
PortB = %11000011
Delay_ms(50)
end sub
'***********************************************
Sub Procedure T_Right
PortB = %00000000
Delay_ms(10)
PortB = %10100101
Delay_ms(50)
end sub
'***********************************************
Sub Procedure Halt
Delay_ms(50)
PortB = %00000000
end sub
'***********************************************
Main:
TrisB = %00000000 ' Configure pins of PortB as output
TrisA = %00001111 ' Configure 4 pins of PortA as input
CMCON = %00000111
mainloop:
If testbit(PortA,2)= 0 Then
Halt
Delay_ms(1000)
Reverse
Delay_ms(1000)
T_Right
Delay_ms(1000)
End If
If testbit(PortA,1)= 0 Then
Halt
Delay_ms(1000)
Reverse
Delay_ms(1000)
T_Left
Delay_ms(1000)
End If
Forward
Goto mainloop
End.
'***********************************************
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Robodyssey is your complete solution for Educational Robotics as well as Hobby Robotics.
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