' RVB TRACK 3 Feb 16, 2008

'{$STAMP  BS2}        'STAMP directive (specifies a BS2)
'{$PBASIC 2.5}
' {$PORT COM6}
'--------------- Data --------------------
step1 DATA %1100
step2 DATA %0110
STEP3 DATA %0011
step4 DATA %1001
STEP5 DATA %0000  ' no power to motor
DATA @40
'-------------- I/O -----------------
Tilt   VAR IN3    'I/O 3 - stamp pin8   -   LM339 u10 pin2
Pan    VAR IN4    'I/O 4 - stamp pin9   -   LM339 u10 pin14
DIRC  = %1111     ' Set PINS 8-11 to outputs
DIRD  = %1111     ' Set pins 12-15 to outputs
'----------------- Variable --------------
MotorTilt   VAR OUTD   'outputs 12,13,14,15 -> motor tilt
MotorPan   VAR OUTC    'outputs 8,9,10,11 -> motor  pan
StepPan   VAR Nib  '
StepTilt   VAR Nib  '
rvbd CON 100 ' my time delay constant
'==============================================================

start: ' begin with reflection on top and right hand RASP elements

findpan: ' rapid pan until centered on RASP
 DO
 StepPan = StepPan + 3 // 4 ' pan right
 READ (step1 + StepPan), MotorPan
 LOOP UNTIL PAN = 1

findtilt: ' rapid tilt until centered on RASP
 DO
 StepTilt = StepTilt + 1 // 4 'tilt up
 READ (step1 + StepTilt), Motortilt
 LOOP UNTIL TILT = 0

track: ' see where we are and adjust

 IF Tilt=1 THEN GOSUB tilt_up ELSE GOSUB tilt_down
 'DEBUG DEC ? Tilt, " tilt"

 IF pan=1 THEN GOSUB PAN_left ELSE GOSUB pan_right
 'DEBUG DEC ? pan, " pan"

PAUSE 1000

GOTO track ' repeat to keep beam on target

END

'=== subroutine calls ===
 TILT_UP:
 'DEBUG "up "
 DO
 StepTilt = StepTilt + 1 // 4 'tilt up
 READ (step1 + StepTilt), Motortilt
 PAUSE rvbd
 LOOP UNTIL TILT = 0
 RETURN

  TILT_DOWN:
 'DEBUG "dn "
 DO
 StepTilt = StepTilt + 3 // 4 ' tilt down
 READ (step1 + StepTilt), Motortilt
  PAUSE rvbd
 LOOP UNTIL TILT = 1
 RETURN

 PAN_LEFT:
 'DEBUG "lt "
 DO
 StepPan = StepPan + 1 // 4 'pan left
 READ (step1 + StepPan), MotorPan
   PAUSE rvbd
 LOOP UNTIL PAN = 0
 RETURN

 PAN_RIGHT:
 'DEBUG "rt "
 DO
 StepPan = StepPan + 3 // 4 ' pan right
 READ (step1 + StepPan), MotorPan
   PAUSE rvbd
 LOOP UNTIL PAN = 1
 RETURN