Plain Code

'****************************************************************
'*  Name    : UNTITLED.BAS                                      *
'*  Author  : Kyle Siopiolosz and Alyssa Mole                   *
'*  Notice  : Copyright (c) 2011 iPod Chargers                  *
'*          : All Rights Reserved                               *
'*  Date    : 1/18/2011                                         *
'*  Version : 1.0                                               *
'*  Notes   :                                                   *
'*          :                                                   *
'****************************************************************
'NOTE: LINE SENSOR SEES NOTHING WHEN = 1, BOT SENSOR SEES NOTHING WHEN = 1
CMCON = 7
TRISA = %00000011
TRISB = %00000000

REVERSECOUNT VAR BYTE                ' Counts how many times the bot has been moving backwards
LEFTCOUNT VAR BYTE                   ' Counts how many times the bot has turned left 
RIGHTCOUNT VAR BYTE                  ' Counts how many times the bot has turned right
SEED VAR BYTE                        ' Sets up the first seed within the main routine 
MAINCOUNT VAR BYTE                   ' Counts how many times the bot returns back to the MAINCOUNT routine
SYMBOL FORWARD = %00000101           ' Required binary string to tell motors to move forwards
SYMBOL BACKWARD = %00001010          ' Required binary string to tell motors to move backwards
SYMBOL LEFTTURN = %00001001          ' Required binary string to tell motors to turn left
SYMBOL RIGHTTURN = %00000110         ' Required binary string to tell motors to turn right

REVERSECOUNT = 0                     ' Set variable REVERSECOUNT to 0
LEFTCOUNT = 0                        ' Set variable LEFTCOUNT to 0
SEED = 0                             ' Set variable SEED to 0
MAINCOUNT = 0                        ' Set variable MAINCOUNT to 0

MAIN:

IF MAINCOUNT < 4 THEN                ' Perfoms specificed actions while MAINCOUNT is less then 4
WHILE PORTA.0 = 1                    ' Performs specified actions while line sensor sees nothing 
PORTB = LEFTTURN                     ' Bot turns left
SEED = SEED + 1                      ' Adds 1 to the SEED variable
IF SEED =>10 THEN                    ' Checks if SEED is equal to 10 or greater
SEED = 0                             ' Sets SEED back to 0
ENDIF                                ' Ends variable check
IF PORTA.1 = 0 THEN GOSUB ATTACK     ' Checks to see if the botsensor sees sometbing, if it does it goes to the subroutine ATTACK, otherwise it stays in the MAIN loop
WEND                                 ' Ends while statement
GOSUB DODGE                          ' Goes to the DODGE subroutine
ELSE                                 ' If MAINCOUNT is not less than 10
GOTO TREE                            ' Goes to TREE
ENDIF


DODGE:
WHILE REVERSECOUNT <= 1000           ' Performs action while REVERSECOUNT is less than or equal to 1000
PORTB = BACKWARD                     ' Bot moves backwards
IF PORTA.0 = 0 THEN                  ' If there is a black surface
MAINCOUNT = MAINCOUNT + 1            ' Add 1 to MAINCOUNT variable
GOTO MAIN                            ' Go back to the MAIN routine
ENDIF                                ' Ends the if statement
REVERSECOUNT = REVERSECOUNT + 1      ' Add 1 to REVERSECOUNT variable
WEND                                 ' Ends the while statement
REVERSECOUNT = 0                     ' Sets REVERSECOUNT back to 0
WHILE LEFTCOUNT <= 1000              ' Performs action while LEFTCOUNT is less than or equal to 100
PORTB = LEFTTURN                     ' Bot turns left                           
IF PORTA.0 = 0 THEN                  ' If there is a black surface
MAINCOUNT = MAINCOUNT + 1            ' Add 1 to MAINCOUNT variable
GOTO MAIN                            ' Go back to the MAIN routine
ENDIF                                ' Ends the if statement
LEFTCOUNT = LEFTCOUNT + 1            ' Add 1 to REVERSECOUNT variable
WEND                                 ' Ends the while statement
LEFTCOUNT = 0                        ' Sets LEFTCOUNT back to 0
IF PORTA.0 = 1 THEN                  ' If there is still a line
GOSUB DODGE2                         ' Goes to DODGE2 Subroutine 
ENDIF                                ' Ends if
IF PORTA.0 = 0 THEN                  ' If there is no line
RETURN                               ' Returns to previous routine
ENDIF                                ' Ends if


DODGE2:
WHILE RIGHTCOUNT <= 1000             ' Performs action while RIGHTCOUNT is less than or equal to 1000
PORTB = RIGHTTURN                    ' Bot moves backwards
IF PORTA.0 = 0 THEN                  ' If there is a black surface
MAINCOUNT = MAINCOUNT + 1            ' Add 1 to MAINCOUNT variable
GOTO MAIN                            ' Go back to the MAIN routine
ENDIF                                ' Ends the if statement
RIGHTCOUNT = RIGHTCOUNT + 1          ' Add 1 to RIGHTCOUNT variable
WEND                                 ' Ends the while statement
RIGHTCOUNT = 0                       ' Sets RIGHTCOUNT back to 0
WHILE REVERSECOUNT <= 1000           ' Performs action while REVERSECOUNT is less than or equal to 1000
PORTB = BACKWARD                     ' Bot moves backwards
IF PORTA.0 = 0 THEN                  ' If there is a black surface
MAINCOUNT = MAINCOUNT + 1            ' Add 1 to MAINCOUNT variable
GOTO MAIN                            ' Go back to the MAIN routine
ENDIF                                ' Ends the if statement
REVERSECOUNT = REVERSECOUNT + 1      ' Add 1 to REVERSECOUNT variable
WEND                                 ' Ends the while statement
REVERSECOUNT = 0                     ' Ends the while statement
IF PORTA.0 = 1 THEN                  ' If there is still a line
GOSUB DODGE                          ' Goes to DODGE2 Subroutine 
ENDIF                                ' Ends if
IF PORTA.0 = 0 THEN                  ' If there is no line
RETURN                               ' Returns to previous routine
ENDIF                                ' Ends if


ATTACK:                              
WHILE PORTA.1 = 0                    ' While bot sees another (bot)?
PORTB = FORWARD                      ' Bot moves forward
WEND                                 ' End if
RETURN                               ' Returns to previous routine


TREE:
                                     
IF SEED < = 3 THEN                   ' Checks if SEED is less than or equal to 3
GOTO SEEK1                           ' Goes to SEEK1
ENDIF                                ' Ends if statement

IF SEED < = 6 THEN                   ' SEED less than or equal to 6
GOTO SEEK2                           ' Goes to SEEK2
ENDIF                                ' Ends if statement

IF SEED < = 10 THEN                  ' SEED less than or equal to 10
GOTO SEEK3                           ' Goes to SEEK3
ENDIF                                ' Ends if statement