'-----------------------------------------------------------------------------
'estop.bs2     -- Aaron Richardson -- Arrick Robotics -- 2/4/99
'                   www.robotics.com
'
'This routine demonstrates how to use an emergency stop button.  The idea 
behind the estop button is to have a button that stops the robot before it can 
fall down stairs, into the fireplace, or run over the cat.


charn   var     byte                                            'get chars from coprocessor.
red     con     10
net     con     8                                               'coprocessor network pin.
baud    con     396                                             'coprocessor network baud rate.
speaker con     9                                       'speaker pin.
        low     speaker              'turn off speaker.

main
        gosub motor1                                            'start motor.
main1                                                                   'start of main loop.
        if in12 = 0 then estop                                  'check estop button.
        goto    main1                                                   'end of main loop.


'------------------------------------------------------------------
'signal that the estop button has been pushed.
'
estop
        gosub stopmtr
        gosub   honk                                                    'honk a couple of times.
        gosub   honk
        gosub   honk
        gosub   honk
        gosub   honk

estop1
        low     red                                                     'flash red led and honk.
        gosub honk
        pause 500
        high    red
        pause 500
        goto    estop1


'------------------------------------------------------------------
'turn motor 1 on.
'
motor1                                                          'drive motor.
        serout net,baud,["!1M111FFFF"]                  'mtr 1,fwd,spd,dis.
        serin net,baud,[charn]                                  'get acknowledge char.
        if charn<>"A" then motor1                               'keep trying if no good.
return


'------------------------------------------------------------------
'turn motor 1 on.
'
stopmtr                                                         'drive motor.
        serout net,baud,["!1M110FFFF"]                  'mtr 1,fwd,spd,dis.
        serin net,baud,[charn]                                  'get acknowledge char.
        if charn<>"A" then motor1                               'keep trying if no good.
return


'------------------------------------------------------------------
'beep beep honk honk.
'
honk
        freqout speaker,200,1500
        low speaker
return