[color=Green]'walking breadboard by erco
'IR control uses Sony universal remote set for Sony VCR
'servo on C.2 (leg 5)
'ir receiver on C.1 (leg 6)[/color]
[color=Navy]#picaxe [/color][color=Black]08m2[/color]
[color=Navy]#no_data
#terminal 4800[/color]
[color=Green]'constants[/color]
[color=Blue]symbol LEFT_ADJUST [/color][color=DarkCyan]= [/color][color=Navy]20[/color]
[color=Blue]symbol RIGHT_ADJUST [/color][color=DarkCyan]= [/color][color=Navy]20[/color]
[color=Blue]symbol CENTER_POS [/color][color=DarkCyan]= [/color][color=Navy]137[/color]
[color=Blue]symbol LEFT_POS [/color][color=DarkCyan]= [/color][color=Blue]CENTER_POS [/color][color=DarkCyan]+ [/color][color=Blue]LEFT_ADJUST
symbol RIGHT_POS [/color][color=DarkCyan]= [/color][color=Blue]CENTER_POS [/color][color=DarkCyan]- [/color][color=Blue]RIGHT_ADJUST
symbol STEP_PAUSE [/color][color=DarkCyan]= [/color][color=Navy]250[/color]
[color=Green]'variables[/color]
[color=Blue]symbol [/color][color=Purple]irCode [/color][color=DarkCyan]= [/color][color=Purple]b3[/color]
[color=Green]'------------------------------------------------------
[/color][color=Blue]pause [/color][color=Navy]2000
[/color][color=Blue]sertxd([/color][color=Red]"RESET"[/color][color=Black],[/color][color=Navy]13[/color][color=Black],[/color][color=Navy]10[/color][color=Blue])
servo c.2[/color][color=Black],[/color][color=Blue]CENTER_POS
pause [/color][color=Navy]1000[/color]
[color=Black]main:
[/color][color=Blue]irin [PLAIN][[/PLAIN][/color][color=Navy]20[/color][color=Black],main[/color][color=Blue][PLAIN]][/PLAIN][/color][color=Black],[/color][color=Blue]C.1[/color][color=Black], [/color][color=Purple]irCode
[/color][color=Blue]if [/color][color=Purple]irCode [/color][color=DarkCyan]= [/color][color=Navy]66 [/color][color=Blue]then gosub [/color][color=Black]straightAhead [/color][color=Green]'up button
[/color][color=Blue]if [/color][color=Purple]irCode [/color][color=DarkCyan]= [/color][color=Navy]98 [/color][color=Blue]then gosub [/color][color=Black]leftTurn [/color][color=Green]'left button
[/color][color=Blue]if [/color][color=Purple]irCode [/color][color=DarkCyan]= [/color][color=Navy]97 [/color][color=Blue]then gosub [/color][color=Black]rightTurn [/color][color=Green]'right button[/color]
[color=Blue]goto [/color][color=Black]main[/color]
[color=Green]'----------------------------------------------------------[/color]
[color=Black]straightAhead:
[/color][color=Blue]servopos c.2[/color][color=Black],[/color][color=Blue]LEFT_POS
pause STEP_PAUSE
servopos c.2[/color][color=Black],[/color][color=Blue]CENTER_POS
pause STEP_PAUSE
servopos c.2[/color][color=Black],[/color][color=Blue]RIGHT_POS
pause STEP_PAUSE
servopos c.2[/color][color=Black],[/color][color=Blue]CENTER_POS
pause STEP_PAUSE
return[/color]
[color=Black]leftTurn:
[/color][color=Blue]servopos c.2[/color][color=Black],[/color][color=Blue]LEFT_POS
pause STEP_PAUSE
servopos c.2[/color][color=Black],[/color][color=Blue]CENTER_POS
pause STEP_PAUSE
return[/color]
[color=Black]rightTurn:
[/color][color=Blue]servopos c.2[/color][color=Black],[/color][color=Blue]RIGHT_POS
pause STEP_PAUSE
servopos c.2[/color][color=Black],[/color][color=Blue]CENTER_POS
pause STEP_PAUSE
return
[/color]