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| 1 | - | CON |
| 1 | + | CON |
| 2 | - | _clkmode = xtal1 + pll16x |
| 2 | + | _clkmode = xtal1 + pll16x |
| 3 | - | _xinfreq = 5_000_000 |
| 3 | + | _xinfreq = 5_000_000 |
| 4 | - | |
| 4 | + | |
| 5 | - | XB_Rx = 5 ' XBee DOUT |
| 5 | + | XB_Rx = 0 ' XBee DOUT |
| 6 | - | XB_Tx = 6 ' XBee DIN |
| 6 | + | XB_Tx = 1 ' XBee DIN |
| 7 | - | XB_Baud = 9600 |
| 7 | + | XB_Baud = 9600 |
| 8 | - | CR = 13 ' Carriage Return value |
| 8 | + | CR = 13 ' Carriage Return value |
| 9 | - | |
| 9 | + | |
| 10 | - | OBJ |
| 10 | + | OBJ |
| 11 | XB : "FullDuplexSerial" | |
| 12 | ||
| 13 | - | Pub Start |
| 13 | + | Pub Start |
| 14 | - | XB.start(XB_Rx, XB_Tx, 0, XB_Baud) ' Initialize comms for XBee |
| 14 | + | XB.start(XB_Rx, XB_Tx, 0, XB_Baud) ' Initialize comms for XBee |
| 15 | waitcnt(clkfreq + cnt) | |
| 16 | - | dira[0..4]~ ' Pins 0-4 to input |
| 16 | + | dira[2..6]~ ' Pins 2-6 to input |
| 17 | repeat | |
| 18 | if ina[2] == 0 | |
| 19 | - | if ina[0] == 0 |
| 19 | + | |
| 20 | XB.Tx(CR) | |
| 21 | if ina[3] == 0 | |
| 22 | - | if ina[1] == 0 |
| 22 | + | |
| 23 | XB.Tx(CR) | |
| 24 | - | XB.Tx(CR) |
| 24 | + | |
| 25 | - | if ina[2] == 0 |
| 25 | + | |
| 26 | XB.Tx(CR) | |
| 27 | - | XB.Tx(CR) |
| 27 | + | if ina[5] == 0 |
| 28 | XB.Str(String("Right",13))
| |
| 29 | XB.Tx(CR) | |
| 30 | - | XB.Tx(CR) |
| 30 | + | if ina[6] == 0 |
| 31 | XB.Str(String("Up",13))
| |
| 32 | XB.Tx(CR) | |
| 33 | - | XB.Tx(CR) |
| 33 | + |
