' Robotics with the Boe-Bot - TestBothIrAndIndicators.bs2
' Test IR object detection circuits.

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

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

irDetectLeft   VAR     Bit
irDetectRight  VAR     Bit

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

DEBUG "Testing piezospeaker..."
FREQOUT 4, 2000, 3000

DEBUG CLS,
      "IR DETECTORS", CR,
      "Left   Right", CR,
      "-----  -----"

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

DO
  FREQOUT 8, 1, 38500
  irDetectLeft = IN9

  FREQOUT 2, 1, 38500
  irDetectRight = IN0

  IF (irDetectLeft = 0) THEN
    HIGH 10
  ELSE
    LOW 10
  ENDIF

  IF (irDetectRight = 0) THEN
    HIGH 1
  ELSE
    LOW 1
  ENDIF

  DEBUG CRSRXY, 2, 3, BIN1 irDetectLeft,
        CRSRXY, 9, 3, BIN1 irDetectRight

  PAUSE 100
LOOP