' Robotics with the Boe-Bot - MovementsWithSubroutines.bs2
' Make forward, left, right, and backward movements in reusable subroutines.
' {$STAMP BS2}
' {$PBASIC 2.5}

DEBUG "Program Running!"

counter        VAR     Word

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

GOSUB Forward
GOSUB Left
GOSUB Right
GOSUB Backward

END

Forward:
  FOR counter = 1 TO 64
    PULSOUT 13, 850
    PULSOUT 12, 650
    PAUSE 20
  NEXT
  PAUSE 200
  RETURN

Left:
  FOR counter = 1 TO 24
    PULSOUT 13, 650
    PULSOUT 12, 650
    PAUSE 20
  NEXT
  PAUSE 200
  RETURN

Right:
  FOR counter = 1 TO 24
    PULSOUT 13, 850
    PULSOUT 12, 850
    PAUSE 20
  NEXT
  PAUSE 200
  RETURN

Backward:
  FOR counter = 1 TO 64
    PULSOUT 13, 650
    PULSOUT 12, 850
    PAUSE 20
  NEXT
  RETURN