'PIC Buggy maze navigation for ELEC1601

'Paul Chen October 2010

'output pin allocation (%76543210)
'76 = motor B
'54 = motor A
'3  = not used
'2  = LED B
'1  = LED A
'0  = piezo sounder

'input pin allocation
'7  = sensor B
'2  = sensor A



symbol moveCount = w0



main:
    let moveCount = 0
    goto move

move:
    let pins = %01010000
    if pin7 = 1 then
        goto adjust
    end if
    if pin2 = 1 then
        if moveCount = 0 OR moveCount = 1 OR moveCount = 4 OR moveCount = 5 OR moveCount = 6 OR moveCount = 7 OR moveCount = 10 OR moveCount = 11 then
            let moveCount = moveCount + 1
            goto left
        end if
        if moveCount = 2 OR moveCount = 3 OR moveCount = 8 OR moveCount = 9 then
            let moveCount = moveCount + 1
            goto right
        end if
        if moveCount = 12 then
            let moveCount = moveCount + 1
            goto turn
        end if
        if moveCount = 13 OR moveCount = 14 OR moveCount = 17 OR moveCount = 18 OR moveCount = 19 OR moveCount = 20 OR moveCount = 23 OR moveCount = 24 then
            let moveCount = moveCount + 1
            goto right
        end if
        if moveCount = 15 OR moveCount = 16 OR moveCount = 21 OR moveCount = 22 then
            let moveCount = moveCount + 1
            goto left
        end if
        if moveCount = 25 then finish
    end if
    goto move

left:
    let pins =%00000010
    sound 0,(50,150)
    let pins =%10100100
    pause 150
    let pins =%10010010
    pause 1030
    goto move

right:
    let pins =%00000010
    sound 0,(50,150)
    let pins =%10100010
    pause 150
    let pins =%01100100
    pause 1030
    goto move

turn:
    let pins =%00000010
    sound 0,(50,150)
    let pins =%10100010
    pause 150
    let pins =%01100110
    pause 2060
    goto move

adjust:
    let pins =%10100100
    pause 150
    let pins =%10010100
    pause 150
    goto move

finish:
    let pins =%00000000