' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - StartAndStopWithRamping.bs2
' Ramp up, go forward, ramp down.

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

DEBUG "Program Running!"

pulseCount    VAR     Word                   ' FOR...NEXT loop counter.

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

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

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

' Ramp up forward.

FOR pulseCount = 1 TO 100                    ' Loop ramps up for 100 pulses.
  PULSOUT 13, 750 + pulseCount               ' Pulse = 1.5 ms + pulseCount.
  PULSOUT 12, 750 - pulseCount               ' Pulse = 1.5 ms – pulseCount.
  PAUSE 20                                   ' Pause for 20 ms.

NEXT

' Continue forward for 75 pulses.

FOR pulseCount = 1 TO 75                     ' Loop sends 75 forward pulses.
  PULSOUT 13, 850                            ' 1.7 ms pulse to left servo.
  PULSOUT 12, 650                            ' 1.3 ms pulse to right servo.
  PAUSE 20                                   ' Pause for 20 ms.
NEXT
 ' Ramp down from going forward to a full stop.

FOR pulseCount = 100 TO 1                    ' Loop ramps down for 100 pulses.
  PULSOUT 13, 750 + pulseCount               ' Pulse = 1.5 ms + pulseCount.
  PULSOUT 12, 750 - pulseCount               ' Pulse = 1.5 ms - pulseCount.
  PAUSE 20                                   ' Pause for 20 ms.
NEXT

END                                          ' Stop until reset.