' some crude autonomous vehicle software
'
'hardware is picaxe 18A
'L293D motor driver connected to outputs 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=3	'right motor
symbol motor2B=2

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


'define variables
symbol commandb=b0
symbol tmp1b=b1

symbol execloop=b2	'execution loop counter


'define constants
symbol leddly=250

symbol motorOnDly=400	'delay while motors are on
symbol motorOffDly=100	'dealy while motors are off
symbol motorPWMloop=1	'numer of loops for crude motor PWM

symbol actionDly=2000	'delay between actions

init:
	gosub m1m2off
	gosub flashled	'let user know we're alive
	pause 6000


start:
	pause 3000		'wait a bit
	gosub flashled	'indicate command

		
	for execloop=0 to motorPWMloop
'comment out the following line and the LED blinks correctly!?!?
'leave it in and LED blinks twice repeatedly		
		on commandb gosub m1fwd, m1rev, m2fwd, m2rev, m1m2fwd, m1m2rev, m1m2lt, m1m2rt

		pause motorOnDly		'wait abit
		gosub m1m2off
		pause motorOffDly		'wait abit
	next execloop
	
	commandb=commandb+1
	commandb=commandb%8

	goto start
	
			
m1fwd:
	high motor1A
	low motor1B
	return

	
m1rev:
	low motor1A
	high motor1B
	return

	
m2fwd:
	high motor2A
	low motor2B
	return

	
m2rev:
	low motor2A
	high motor2B
	return

	
m1m2fwd:
	high motor1A
	low motor1B
	high motor2A
	low motor2B
	return

	
m1m2rev:
	low motor1A
	high motor1B
	low motor2A
	high motor2B
	return

	
m1m2lt:
	high motor1A
	low motor1B
	low motor2A
	high motor2B
	return
	
	
m1m2rt:
	low motor1A
	high 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 commandb
		gosub led1on
		pause leddly
		gosub led1off
		pause leddly
	next tmp1b
	return