'{$STAMP BS2}
'--------------------------------------------------------
'navrw.bs2
'
'This simple example program uses the front and 
'rear whiskers to navigate.
'
'The robot will move forward until:
'  If one of the front whisker activates 
'  then the robot moves backwards.
'  If the rear whisker activates
'  then the robot moves forward.

net     con 8              'Coprocessor network pin
baud    con 396            'Coprocessor baud rate

start:  serout net,baud,["!1R180"]      'Center steering
        pause 100

startb: if in14=1 then startb           'Wait 4 start button

main:   if in0=0 or in1=0 then mainf    'Front whisker?
        serout net,baud,["!1M116FFFF"]  'Drive motor forward
        pause 100
        goto main

mainf:  if in2=0 then main              'Rear whisker?
        serout net,baud,["!1M106FFFF"]  'Drive motor reverse
        pause 100
        goto mainf