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

subs:	gosub start
	gosub panic
	goto subs



	freqout 9,150,500	'Beep twice.
	pause 1000
	serout 8,396,["!1M116FFFF"]	'Drive forward forever.
	pause 1000
	gosub backl
	goto subs


'Start a program with this routine.
'Centers steering, beeps twice, waits for SW1 pressed.
'
Start:	high 11			'Green LED off.
	serout 8,396,["!1R180"]	'Steer center.
	freqout 9,150,2000	'Beep twice.
	pause 20
	freqout 9,150,2000
	low 9			'Speaker off.
	serout 8,396,["!1R100"]	'Relax steering.
start1:	high 10			'Red LED off.
	pause 100	
	if in14=0 then startd	'If SW1 then startd.
	low 10			'Red LED on.
	pause 100	
	goto start1		'Loop.
startd:	if in14=0 then startd	'Wait till SW1 off.
	return			'Finished.	



'Move the robot back and to the left to avoid an object.
'
backl:	serout 8,396,["!1M1100001"]	'Drive motor off.
	pause 300
	serout 8,396,["!1R101"]		'Steer right.
	pause 500
	serout 8,396,["!1M1060028"]	'Drive reverse 10".
	pause 1500
	serout 8,396,["!1M1100001"]	'Drive motor off.
	pause 300
	serout 8,396,["!1R180"]		'Steer center.
	pause 300
	return


panicv	var	byte		'Variable for looping.

'Panic - flash the LEDs and sound the alarm.
'
panic:	for panicv = 1 to 10	'Loop 10 times.
	low 10			'Red LED on.
	high 11			'Green LED off.

	freqout 9,100,1500	'High pitch sound.
	pause 100

	high 10			'Red LED off.
	low 11			'Green LED on.

	freqout 9,100,500	'Low pitch sound.
	pause 100

	next			'Loop until done.
	return			'Done.