' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - TestLeftFrequencySweep.bs2
' Test IR detector distance responses to frequency sweep.

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

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

freqSelect     VAR     Nib
irFrequency    VAR     Word
irDetect       VAR     Bit
distance       VAR     Nib

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

DEBUG CLS,
      "           OBJECT", CR,
      "FREQUENCY  DETECTED", CR,
      "---------  --------"

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

DO

  distance = 0

  FOR freqSelect = 0 TO 4

    LOOKUP freqSelect,[37500,38250,39500,40500,41500], irFrequency
    FREQOUT 8,1, irFrequency
    irDetect = IN9
    distance = distance + irDetect

    DEBUG CRSRXY, 4, (freqSelect + 3), DEC5 irFrequency
    DEBUG CRSRXY, 11, freqSelect + 3

    IF (irDetect = 0) THEN DEBUG "Yes" ELSE DEBUG "No "

    PAUSE 100

  NEXT

  DEBUG CR,
        "---------  --------", CR,
        "Zone       ", DEC1 distance
LOOP