'--------------------------------------------------------------
'  file: digilabs.BAS
'  DLC 4/13/2003
'  Wandering object avoider demo code
'--------------------------------------------------------------

Dim A As Byte

Config Portb = &B10101110
Config Portd = &B11111000
'Port B pins
'B7 = SCK output
'B6 = MISO input
'B5 = MOSI output
'B4 = IRM input
'B3 = 40KHz IR modulation output
'B2 = Left IR LED enable output
'B1 = Right IR LED enable output
'B0 = LED signal output

'Port D pins
'D7 = N/A set to output
'D6 = Left servo output
'D5 = Right servo output
'D4 = LED signal output
'D3 = unassigned output
'D2 = Left line sensor input
'D1 = Center line sensor input
'D0 = Right line sensor input

$crystal = 10000000

'Sets 40KHz OC for IRPD LEDs
Config Timer1 = Timer , Prescale = 1 , Compare A = Toggle
Set Tccr1b.3
Compare1a = 125

Dim Count As Byte
Dim Button As Byte

Declare Function Getbutton() As Byte
Declare Sub Blink5

Do
    Portd.4 = 0
    Button = Getbutton()
    If Button = 0 Then
        Call Blink5
    End If

    While Button = 0
        Button = Getbutton()
    Wend
Loop

Goto Lastone

Do
    If Pinb.0 = 0 Then
       Portd.4 = 1
    Else                                                    'leave off else at first
       Portd.4 = 0
    End If
Loop

Lastone:
Do
    If Pinb.0 = 0 Then
        Toggle Portd.4
        Waitms 250
    Else
        Toggle Portd.3
        Waitms 250
    End If
    Portd.4 = 0
    Portd.3 = 0
    waitms 250
Loop

Secondone:
Do
    While Pinb.0 = 0
        Portd.4 = 1
    Wend
    Portd.4 = 0
Loop

Thirdone:
For Count = 1 To 5
     Portd.4 = 1
     Waitms 500
     Portd.4 = 0
     Waitms 500
Next
Do
Loop

Fourthone:
Do
    While Pinb.0 = 0
        Toggle Portd.4
        Waitms 250
    Wend
    Portd.4 = 0
Loop


End

Function Getbutton()
    Dim Dbounce As Bit
    Dim Dbounce2 As Bit

    Dbounce = Pinb.0
    Waitms 20
    Dbounce2 = Pinb.0
    If Dbounce = Dbounce2 Then
        Getbutton = Dbounce
    Else
        Getbutton = Dbounce2
    End If

End Function

Sub Blink5

    For A = 1 To 5
        Set Portd.4
        Waitms 250
        Reset Portd.4
        Waitms 250
    Next

End Sub