' First attempt at some crude autonomous vehicle software

'hardware is picaxe 18A
'L293D motor driver connected to 0,1, and 2,3
'2 mini robot motors
'LED between pins 4 and 5



'define pinouts
symbol motor1A=0	'left motor
symbol motor1B=1

symbol motor2A=2	'right motor
symbol motor2B=3

symbol LED1A=4	'LED across these pins for now
symbol LED1B=5

symbol tmp0b=b0
symbol tmp1b=b1


symbol rndw=w1
symbol rndb=b2	'1st byte of random word


'define constants
symbol leddly=100

init:
	gosub flashled	'let user know we're alive
	pause 8500


start:
	gosub flashled	'say hi
	pause 1500		'wait abit

	random rndw		'get new random number
		
	tmp0b=rndb%5	'and use it to select new action
	
	on tmp0b gosub sitstill, m1m2lt, m1m2fwd, m1m2rt, m1m2rev	'call action
	pause 1000		'wait abit
	gosub m1m2off
	
	goto start
	
	
	
sitstill:
	return
		
	
m1fwd:
	high motor1A
	low motor1B
	return

	
m1rev:
	high motor1B
	low motor1A
	return


m1off:
	low motor1A
	low motor1B
	return

	
m2rev:
	high motor2A
	low motor2B
	return

	
m2fwd:
	high motor2B
	low motor2A
	return


m2off:
	low motor2A
	low motor2B
	return

	
m1m2fwd:
	high motor1A
	low motor1B
	high motor2B
	low motor2A
	return

	
m1m2rev:
	high motor1B
	low motor1A
	high motor2A
	low motor2B
	return

	
m1m2lt:
	high motor1B
	low motor1A
	high motor2B
	low motor2A
	return
	
	
m1m2rt:
	high motor1A
	low motor1B
	high motor2A
	low motor2B
	return


	
m1m2off:
	low motor1a
	low motor1b
	low motor2a
	low motor2b
	return
	
	
led1on:
	high LED1A
	low LED1B
	return


led1off:
	low LED1A
	low LED1B
	return


flashled:	
	for tmp1b=0 to 3
		gosub led1on
		pause leddly
		gosub led1off
		pause leddly
	next tmp1b
	return