'>Hextor_2.BSx
'==============================================================
'{$stamp BS2Sx}
'==============================================================
'Introduction to controlling the walker.
'This involves sending a single control byte to the
'Bug Commander BOS to initiate various basic moves.
'
'New
'---
'Required knowledge: var, assignment{=}, gosub, return, serout
'
'BOS command: U,F,B,L,R,M,S,O,C,D,P
'Constants:  i96n BOSrx BOStx epower poweruptime
'Variables:  BOSbusy BOScmnd
'Subroutine: tellBOS
'==============================================================
'Experiment with altering the order of the commands, try adding
'more, remember to 'gosub tellBOS' each time BOScmnd is changed
'==============================================================
BOStx		con	0	'pin serial to BOS processor
BOSrx		con	1	'pin serial from BOS processor
epower		con	2	'pin high turns on power to electronics
BOSbusy		var	in4	'pin BOS processor busy => high
Rled		con	8	'pin high turns on right green led
Lled		con	9	'pin high turns on left red led
i96n		con	16624	'9600 baud, 8 bit, no parity, inverted
poweruptime	con	1500	'pause before powering up electronics
BOScmnd	var	byte	'byte to send to BOS processor

'during downloading the power to the electronics is turned off,
'if it is turned back on again too soon the electronics, 
'especially the ultrasonics do not power up properly,
'so wait poweruptime before turning power on.

init:	output Rled
	output Lled
	high Rled
	high Lled
	pause poweruptime
	high epower		'turn on electronics
	debug cls

'Stand up, lift gripper, step forward, close gripper, step 
'right, step left, open gripper, step back, down gripper, 
'legs to middle position, sit, pause 2 seconds and then do it
'all again forever

start:toggle Rled
	BoScmnd ="U"		'stand Up
	gosub tellBOS
	BOScmnd ="D"		'Down gripper 1/4 travel
	gosub tellBOS
	BOScmnd ="F"		'step Forward
	gosub tellBOS
	BOScmnd ="C"		'Close gripper 1/4 travel
	gosub tellBOS
	BOScmnd ="R"		'Right turn one step
	gosub tellBOS
	BOScmnd ="L"		'Left turn one step
	gosub tellBOS
	BOScmnd ="O"		'Open gripper 1/4 travel
	gosub tellBOS
	BOScmnd ="B"		'step Backward
	gosub tellBOS
	BOScmnd ="P"		'Pickup gripper
	gosub tellBOS
	BOScmnd ="M"		'set legs to Midd position
	gosub tellBOS
	BOScmnd ="S"		'Sit
	gosub tellBOS
	toggle Lled
	pause 2000
	goto start


tellBOS:
	pause 10	'give the BOS time to go into receive mode
	if BOSbusy=1 then tellBOS	'wait until BOS not busy
	serout BOStx,i96n,[BOScmnd]
	return
'------------------------ end program -------------------------