' Robotics with the Boe-Bot - ForwardLeftRightBackward.bs2
' Move forward, left, right, then backward for testing and tuning.

' {$STAMP BS2}
' {$PBASIC 2.5}

DEBUG "Program Running!"

counter        VAR     Word

FREQOUT 4, 2000, 3000                        ' Signal program start/reset.
FOR counter = 1 TO 64                        ' Forward

  PULSOUT 13, 850
  PULSOUT 12, 650
  PAUSE 20

NEXT

PAUSE 200

FOR counter = 1 TO 24                        ' Rotate left - about 1/4 turn

  PULSOUT 13, 650
  PULSOUT 12, 650
  PAUSE 20

NEXT

PAUSE 200

FOR counter = 1 TO 24                        ' Rotate right - about 1/4 turn

  PULSOUT 13, 850
  PULSOUT 12, 850
  PAUSE 20

NEXT

PAUSE 200

FOR counter = 1 TO 64                        ' Backward

  PULSOUT 13, 650
  PULSOUT 12, 850
  PAUSE 20

NEXT

END