advanced stamp code.bsx

M:\Mike (4-19)\Stub Programs\Stamp Board Code - printer\advanced stamp code.bsx
File saved: 4/19/2006 8:16:34 PM
Generated: 4/24/2006 6:53:48 PM

Table of Contents
Declarations


'Author: Michael Konicki  Table of Contents
'Date: 3/30/2005
'
' {$STAMP BS2sx}
' {$PBASIC 2.5}
'
'even servos = wheels
'odd servos = directionary servos


'Variables
position VAR Word
ra VAR Byte
ch VAR Byte
'buff VAR Byte(3)
header VAR Word
command VAR Word
tail VAR Word
ch0 VAR Word
ch1 VAR Word
ch2 VAR Word
ch3 VAR Word
ch4 VAR Word
ch5 VAR Word
ch6 VAR Word
ch7 VAR Word

'Serial Communication settings for Servo Controller
Sdat CON 15 ' TPIN is pin to transmit through
baud CON 1021  'BAUD RATE 1021

'NOTE: 250 to 1250 is servo range

start:

GOSUB stop_machine

DO
    
    'Get the command
    GOSUB get_input_from_com

LOOP

END


get_input_from_com:
'*********************************************
'Get the input from COM Port via PC and send it to the servo
'*********************************************
DEBUGIN DEC header, DEC ch0, DEC ch1, DEC ch2, DEC ch3, DEC ch4, DEC ch5, DEC ch6, DEC ch7, DEC tail

IF header = 55 THEN
    DEBUGIN DEC ch0, DEC ch1, DEC ch2, DEC ch3, DEC ch4, DEC ch5, DEC ch6, DEC ch7, DEC tail
    IF tail = 55 THEN
        ra = 1
        IF ch0 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch0.LOWBYTE, ch0.HIGHBYTE, CR]
        ENDIF
        IF ch1 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch1.LOWBYTE, ch1.HIGHBYTE, CR]
        ENDIF
        IF ch2 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch2.LOWBYTE, ch2.HIGHBYTE, CR]
        ENDIF
        IF ch3 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch3.LOWBYTE, ch3.HIGHBYTE, CR]
        ENDIF
        IF ch4 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch4.LOWBYTE, ch4.HIGHBYTE, CR]
        ENDIF
        IF ch5 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch5.LOWBYTE, ch5.HIGHBYTE, CR]
        ENDIF
        IF ch6 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch6.LOWBYTE, ch6.HIGHBYTE, CR]
        ENDIF
        IF ch7 > 0 THEN
            SEROUT Sdat, baud,["!SC", 0, ra, ch7.LOWBYTE, ch7.HIGHBYTE, CR]
        ENDIF
    ELSE
        DEBUG "NCK:",CR
    ENDIF
    
    
    RETURN