'------------------------------------------------------------------
'legoarm.bs2   Arrick Robotics  02/16/98  www.robotics.com
'
' This program demonstrates the use of an arm constructed from 
' Lego Mindstorms.
' Turning on pin 9 causes the arm to move up or down.
' Turning on pin 10 causes the gripper to open or close.
'
' This program assumes the lego arm is up and the lego gripper is 
' open at the beginning of execution.
'------------------------------------------------------------------
'
'I/O pins.
arm con 4					'lego arm
grip con 5					'lego gripper


'------------------------------------------------------------------
'
main:
	gosub setup
	pause 1000

	gosub movegrip				'Move gripper.
	pause 1000					'Delay.

	gosub movearm				'Move arm.
	pause 1000					'Delay.
	
	goto main					'Loop.


'------------------------------------------------------------------
'Initialize.
'
setup:
	low arm					'Arm off.
	low grip					'Gripper off.
	return


'------------------------------------------------------------------
'Move Arm.
'
movearm:
	high arm
	pause 1000
	low arm
	return


'------------------------------------------------------------------
'Move Gripper.
'
movegrip:
	high grip
	pause 1000
	low grip
	return


'------------------------------------------------------------------
'End of program
'------------------------------------------------------------------