' Robotics with the Boe-Bot - EepromNavigationWithWordValues.bs2
' Store lists of word values that dictate.

' {$STAMP BS2}                               ' Stamp directive.
' {$PBASIC 2.5}                              ' PBASIC directive.

DEBUG "Program Running!"

' -----[ Variables ]----------------------------------------------------------

counter        VAR     Word
pulseCount     VAR     Word                  ' Stores number of pulses.
addressOffset  VAR     Byte                  ' Stores offset from label.
instruction    VAR     Byte                  ' Stores EEPROM instruction.
pulseRight     VAR     Word                  ' Stores servo pulse widths.
pulseLeft      VAR     Word

' -----[ EEPROM Data ]--------------------------------------------------------

' addressOffset       0         2         4         6        8
Pulses_Count DATA  Word 64,  Word 24,  Word 24,  Word 64, Word 0
Pulses_Left  DATA  Word 850, Word 650, Word 850, Word 650
Pulses_Right DATA  Word 650, Word 650, Word 850, Word 850

' -----[ Initialization ]-----------------------------------------------------

FREQOUT 4, 2000, 3000                        ' Signal program start/reset.

' -----[ Main Routine ]-------------------------------------------------------

DO

  READ Pulses_Count + addressOffset, Word pulseCount
  READ Pulses_Left + addressOffset, Word pulseLeft
  READ Pulses_Right + addressOffset, Word pulseRight

  addressOffset = addressOffset + 2
   FOR counter = 1 TO pulseCount
    PULSOUT 13, pulseLeft
    PULSOUT 12, pulseRight
    PAUSE 20
  NEXT


LOOP UNTIL (pulseCount = 0)

END                                          ' Stop executing until reset.