'{$STAMP BS2}
'snippets.bs2 - Useful code snippets - Roger Arrick 2/22/03


'LED control.

	low 10			'Red LED on.
	high 10			'Red LED off.

	low 11			'Green LED on.
	high 11			'Green LED off.


'Reading whiskers.

	if in0=0 then wh1	'If left whisker is on then goto wh1.
	if in0=1 then wh1	'If left whisker is off then goto wh1.

	if in1=0 then wh1	'If right whisker is on then goto wh1.
	if in1=1 then wh1	'If right whisker is off then goto wh1.


'Reading jumpers.

	if in12=0 then wh1	'If Jumper J7 on then goto wh1.
	if in12=1 then wh1	'If Jumper J7 off then goto wh1.

	if in13=0 then wh1	'If Jumper J6 on then goto wh1.
	if in13=1 then wh1	'If Jumper J6 off then goto wh1.


'Reading pushbutton switches.

	if in14=0 then wh1	'If Button SW1 on then goto wh1.
	if in14=1 then wh1	'If Button SW1 off then goto wh1.
 
	if in15=0 then wh1	'If Button SW2 on then goto wh1.
	if in15=1 then wh1	'If Button SW2 off then goto wh1.


'speaker control.

	low 9			'Speaker off (conserve power).

	freqout 9,200,1500	'Beep the speaker (high pitch).
	low 9

	freqout 9,200,400	'Beep the speaker (low pitch).
	low 9			'Speaker off.


'Steering motor control.

	'These require a variable defined named charn

	serout 8,396,["!1R180"]		'Steer center.
	serin 8,396,[charn]		'Get response 'A' back.

	serout 8,396,["!1R1FF"]		'Steer left.
	serin 8,396,[charn]		'Get response 'A' back.

	serout 8,396,["!1R101"]		'Steer right.
	serin 8,396,[charn]		'Get response 'A' back.

	serout 8,396,["!1R100"]		'Relax steering motor.
	serin 8,396,[charn]		'Get response 'A' back.

'Drive motor control

	'These require a variable defined named charn

	serout 8,396,["!1M1160028"]	'Drive forward 10".
	serin 8,396,[charn]		'Get response 'A' back.

	serout 8,396,["!1M1060028"]	'Drive reverse 10".
	serin 8,396,[charn]		'Get response 'A' back.

	serout 8,396,["!1M116FFFF"]	'Drive forward forever.
	serin 8,396,[charn]		'Get response 'A' back.

	serout 8,396,["!1M1100001"]	'Drive motor off.
	serin 8,396,[charn]		'Get response 'A' back.



'End of useful snippets.