' Golgoth 2004 Programme

#include "start.bas"


        
        DDRD  = 0			' PD5=PD4=PD3=PD2=input
	SCONF = 0x4C			' B,C = sorties
	byte n1,n2,T,c1,ct,ct2, vit,ct3,ct4,c2
	int  compteur,t2,t1

	lcdinit()		' enable l'afficheur
	PACTL.1 = 1		' selectioner la vitesse interruption 16ms 
	PACTL.0 = 0
        PACTL.7 = 1             ' A7 en sortie
        PACTL.3 = 1
	TMSK2.6 = 1		' declencher le timer
	cli			' autoriser les inter

        print "golgoth"

        n1=180        '  A3 servo vertical
        n2=150        ' A7   servo horizontal
        ct=0
        ct2=0
        ct3=0
        ct4=0
        vit=128       '  vitesse de rotation servo

      PORTB.1=1
      tempo(30)
      PORTB.1=0
      PORTC = 255
     do 		' pour toujours
        
     '   do
     '   wai
        c1=PORTE
        c1=c1 AND %00001111
     '   wai
     '   c2=PORTE
     '   c2=c2 AND %00001111
     '   loop until c1=c2
        


        if c1=0 then
          gosub arret
        end if
        if c1=1 then
          gosub avancer
        end if
        if c1=2 then
          gosub reculer
        end if
        if c1=3 then
          gosub tourner_g
        end if
        if c1=4 then
          gosub tourner_d
        end if
        if c1=5 then
          PORTB.0=1
          tempo(20)
          PORTB.0=0
        end if
        if c1=6 then
          PORTB.1=1
          tempo(20)
          PORTB.1=0
        end if
          if c1=7 then
          PORTB.2=1
          tempo(20)
          PORTB.2=0
        end if
        if c1=8 then
          PORTB.5=1
          tempo(20)
          PORTB.5=0
        end if
         if c1=9 then
          PORTB.6=1
          tempo(20)
          PORTB.6=0
        end if
        if c1=10 then
          PORTB.7=1
          tempo(20)
          PORTB.7=0
        end if
       if c1=11 then
          n1=180   '  A3 servo vertical
          n2=150   ' A7 servo horizontal
        end if   

      if c1=12 then
         
         ct=ct+1
         if ct=vit then
           n2=n2+1   '  servo horizontal
          if n2>=200 then
            n2=200
          end if
          ct=0          
        end if
      

     end if 

      if c1=13 then
         
         ct2=ct2+1
         if ct2=vit then
           n2=n2-1   '  servo horizontal
           if n2<=100 then
             n2=100
           end if          
          ct2=0
        end if
     end if 

       if c1=14 then
         
         ct3=ct3+1
         if ct3=vit then
           n1=n1-1   '  servo vertical
           if n1<=130 then
             n1=130
           end if          
          ct3=0
        end if
     end if

         if c1=15 then
         
         ct4=ct4+1
         if ct4=vit then
           n1=n1+1   '  servo vertical
           if n1>=230 then
             n1=230
           end if          
          ct4=0
        end if
     end if
     loop 





    do
        gosub ultrason
        if PORTA.0=0 then
          PORTA.4=0
          PORTB.1=1
          tempo(300)
          PORTB.1=0
           gosub tourner_g
       end if
       if PORTA.1=0 then
          PORTB.7=1
           gosub tourner_d
          PORTB.7=0
       end if
       
       PORTA.5=0
       PORTA.6=0
       PORTA.4=1       ' Puissance ON

     loop

ultrason2:
   PORTC.5=1
   for t1=1 to 10
   next t1
   PORTC.5=0    
   for t1=1 to 5000
   next t1
   return


ultrason:
   
   PORTC.5=1
   for t1=1 to 10
   next t1
   PORTC.5=0    
   do 
   loop until PORTA.2=1
   compteur=0
   do
    compteur=compteur+1
   loop until PORTA.2=0
   lcdinit()
  ' print "compt=",compteur,"  "
   'tempo(10)
   if compteur<150  then
     PORTB.7=1           'buzzer court
     tempo(20)
     PORTB.7=0
     gosub reculer
     gosub tourner_d
    end if

    For t2=1 to 5000
    next t2 
  return



reculer:
   ' PORTA.4=0       'Puissance off
    PORTA.5=1
    PORTA.6=1
    PORTA.4=1       ' Puissance ON
    tempo(20)

   return
avancer:
      PORTA.5=0
      PORTA.6=0
      PORTA.4=1    'Puissance ON 
      tempo(20)
      return

arret:
     PORTA.4=0
     tempo(20)
     return


tourner_g:
        ' PORTA.4=0      ' Puissance OFF
         PORTA.5=1
         PORTA.6=0
         PORTA.4=1     ' Puissance ON
         tempo(20)             
         PORTA.4=0     ' Puissance OFF
         
     return

tourner_d:
       '  PORTA.4=0      ' Puissance OFF
         PORTA.5=0
         PORTA.6=1
         PORTA.4=1     ' Puissance OFF
         tempo(20)             
         PORTA.4=0     ' Puissance OFF
        
     return

interrupt function rtiint at $FFF0
	
        PORTA.3=1
        FOR T = 1 to n1
        NEXT T
        PORTA.3=0
        PORTA.7=1
        FOR T = 1 to n2
        NEXT T
        PORTA.7=0

	TFLG2.6 = 1		' autoriser ints a nouveau
	end function

function tempo(cnt)
	int i, k,l
	for l=0 to cnt 
		for i=0 to 1000
		next
	next
	end function

#include "lcd.bas"