rc_car.bs2

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

pulseCount VAR WORD
left VAR WORD 
right VAR WORD 

left = 0 
right = 0

Main: 
  GOSUB Check_Buttons 
  PAUSE 50
  GOSUB Assign_States 
  GOTO Main 	
  END 

'-------------------------------------

Check_Buttons:
  IF (IN2 = 1 AND IN1 = 1) THEN
    left = 1 
	right = 1
  ELSEIF (IN2 = 1 AND IN1 = 0) THEN 
	left = 1 
	right = 0 
  ELSEIF (IN2 = 0 AND IN1 = 1) THEN 
	left = 0 
	right = 1 
  ENDIF
  RETURN 

Assign_States:
  IF (left = 1 AND right = 1) THEN 
	GOSUB Stop_Pulse 
  ELSEIF (left = 1 AND right = 0) THEN 
	GOSUB Turn_Left 
  ELSEIF (left = 0 AND right = 1) THEN 
	GOSUB Turn_Right 
  ENDIF 
  RETURN 

Stop_Pulse:
  PULSOUT 13, 750
  PULSOUT 12, 750
  PAUSE 20
  RETURN

Turn_Left:
  DEBUG "Left", CR
  FOR pulseCount = 0 TO 20
    PULSOUT 13, 650
    PULSOUT 12, 650
    PAUSE 20
  NEXT
  RETURN

Turn_Right:
  DEBUG "Right", CR
  FOR pulseCount = 0 TO 20
    PULSOUT 13, 850
    PULSOUT 12, 850
    PAUSE 20
  NEXT
  RETURN