'EXAMPLE PROGRAM #2
'QBASIC
'HTTP://WWW.ROBOTICS.COM/TRILOBOT

'OPEN THE SERIAL PORT.
'(MAY BE NECESSARY TO CHANGE COM PORT)
OPEN "COM1:9600,N,8,1" FOR RANDOM AS #1
 
'SETUP SCREEN.
CLS
PRINT "TriloGuard Program "
PRINT
INPUT "Enter delay in seconds ", D
PRINT
PRINT "TriloGuard mode active "

ACTIONCODE = 1

SENSELOOP:

  'READ PIR SENSOR.
  PRINT #1, "!1GP1";
  R0$ = INPUT$(2, #1)
  GOSUB BYTETODEC

  IF R0 = 0 THEN GOTO SENSELOOP

  'FLASH HEADLIGHT.
  IF ACTIONCODE = 1 THEN
    PRINT #1, "!1PL03";
    A$ = INPUT$(1, #1)
    SLEEP 1
    PRINT #1, "!1PL00";
    A$ = INPUT$(1, #1)
  END IF

  'WOOP UP SOUND EFFECT AND MOVE HEAD.
  IF ACTIONCODE = 2 THEN
    'WOOP UP.
    PRINT #1, "!1PS09";
    A$ = INPUT$(1, #1)
    'HEAD SCAN.
    PRINT #1, "!1PH10A";
    A$ = INPUT$(1, #1)
    'HEAD STRAIGHT.
    PRINT #1, "!1PH101";
    A$ = INPUT$(1, #1)
  END IF

  'SPEAK HELLO.
  IF ACTIONCODE = 3 THEN
    PRINT #1, "!1PS82";
    A$ = INPUT$(1, #1)
  END IF

  'MOVE GRIPPER AND BEEPS.
  IF ACTIONCODE = 4 THEN
    'BEEPS
    PRINT #1, "!1PS02";
    A$ = INPUT$(1, #1)
    'GRIPPER DOWN/OPEN
    PRINT #1, "!1PG101";
    A$ = INPUT$(1, #1)
    SLEEP 1
    'GRIPPER CLOSE/UP
    PRINT #1, "!1PG102";
    A$ = INPUT$(1, #1)
    SLEEP 1
    'GRIPPER RELAX
    PRINT #1, "!1PG100";
    A$ = INPUT$(1, #1)
  END IF

  ACTIONCODE = ACTIONCODE + 1
  IF ACTIONCODE = 5 THEN
    ACTIONCODE = 1
  END IF

  'DELAY
  SLEEP D

  GOTO SENSELOOP


'Convert a hexadecimal word in R0$ to decimal in R0
WORDTODEC:
  R1$ = MID$(R0$, 1, 1)
  GOSUB NIBTODEC
  R0 = R1 * 4096
  R1$ = MID$(R0$, 2, 1)
  GOSUB NIBTODEC
  R0 = R0 + (R1 * 256)
  R1$ = MID$(R0$, 3, 1)
  GOSUB NIBTODEC
  R0 = R0 + (R1 * 16)
  R1$ = MID$(R0$, 4, 1)
  GOSUB NIBTODEC
  R0 = R0 + R1
  RETURN

'Convert a hexadecimal byte in R0$ to decimal in R0
BYTETODEC:
  R1$ = MID$(R0$, 1, 1)
  GOSUB NIBTODEC
  R0 = R1 * 16
  R1$ = MID$(R0$, 2, 1)
  GOSUB NIBTODEC
  R0 = R0 + R1
  RETURN

'Convert a hexadecimal nibble in R1$ to decimal in R1
'This routine used by BYTETODEC AND WORDTODEC.
NIBTODEC:
  IF R1$ = "A" THEN R1 = 10: RETURN
  IF R1$ = "B" THEN R1 = 11: RETURN
  IF R1$ = "C" THEN R1 = 12: RETURN
  IF R1$ = "D" THEN R1 = 13: RETURN
  IF R1$ = "E" THEN R1 = 14: RETURN
  IF R1$ = "F" THEN R1 = 15: RETURN
  R1 = VAL(R1$)
RETURN