light_seeker.bs2

'{$STAMP BS2}
'{$PBASIC 2.5}

Main: 
	counter VAR WORD 
	position VAR WORD 
	theta VAR WORD 
	lowest_pos VAR WORD 'position for brightest light 
	lowest_tau VAR WORD 'brightest light 
	tau VAR WORD
	theta = 0 '0-180 degrees 
	lowest_tau = 65535
	lowest_pos = 0

	FOR counter = 0 TO 180:
		theta = 0
		position = 200 + (5 * theta)
		PULSOUT 14, position 
		PAUSE 20
	NEXT 
	PAUSE 2000
	GOSUB Main_Cycle


Main_Cycle:
	FOR theta = 0 TO 180:
		position = 200 + (5 * theta)
		PULSOUT 14, position 
		HIGH 5
		PAUSE 3
		RCTIME 5, 1, tau
		IF (tau < lowest_tau) THEN 
			lowest_tau = tau
			lowest_pos = position
		ENDIF
		PAUSE 20
	NEXT 
	DEBUG CLS
	DEBUG "main done", CR
	DEBUG "tau"
	DEBUG DEC lowest_tau, CR
	DEBUG "pos"
	DEBUG DEC lowest_pos, CR
	DEBUG "theta"
	DEBUG DEC (lowest_pos - 200) / 5, CR
	GOSUB Light_Seek

Light_Seek:
	DEBUG "light loop"
	FOR counter = 1 TO 100:
		PULSOUT 14, lowest_pos 
		PAUSE 20 
	NEXT 
	END