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robot1.bsx
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robot1.bsx
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' {$PBASIC 2.5}
' {$STAMP BS2sx, robot2.bsx, robot3.bsx, robot3_2.bsx, robot4.bsx, robot5.bsx}
' PROGRAM: Wildstang 2003 Robot Software
' File Name: robot1.bsx
' Written by: 2003 Wildstang Software Team
' File Description:
'
' Version History
'
' Date Who Description
' -------- ----------- ------------------------------------------------------------------------------------
' 01/14/02 M. Soukup Initial creation
' 01/15/02 M. Soukup Migrate 2002 program structure & code
'=============================================================================================================
'========== DECLARE VARIABLES ================================================================================
'=============================================================================================================
' Below is a list of declared input and output variables. Comment or un-comment
' the variables as needed. Declare any additional variables required in
' your main program loop. Note that you may only use 26 total variables.
'---------- Misc. MUST BE THE FIRST VARIABLES IN ALL BANKS ---------------------------------------------------
'------PERSISTENT VARIABLES -- VALID IN ALL BANKS ------------------------------------------------------------
'NOTE:In order for these variables to be valid in ALL banks, they must be in the exact same spot in each bank.
' To do this, just always keep these as the first variables in each bank.
'packet_num VAR byte
'delta_t VAR byte
'---------- Aliases for the Pbasic Mode Byte (nvr_PB_mode) -------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Bit 7 of the nvr_PB_mode byte (aliased as comp_mode below) indicates the status
' of the Competition Control, either Enabled or Disabled. This indicates the
' starting and stopping of rounds at the competitions.
' Comp_mode is indicated by a solid "Disabled" LED on the Operator Interface.
' Comp_mode = 1 for Enabled, 0 for Disabled.
'
' Bit 6 of the nvr_PB_mode byte (aliased as auton_mode below) indicates the status
' of the Autonomous Mode, either Autonomous or Normal. This indicates when
' the robot must run on its own programming. When in Autonomous Mode, all
' OI analog inputs are set to 127 and all OI switch inputs are set to 0 (zero).
' Auton_mode is indicated by a blinking "Disabled" LED on the Operator Interface.
' Auton_mode = 1 for Autonomous, 0 for Normal.
'
' Autonomous Mode can be turned ON by setting the RC to Team 0 (zero).
'
' Bit 5 of the nvr_PB_mode byte (aliased as user_display_mode below) indicates when
' the user selects the "User Mode" on the OI. nvr_PB_mode.bit5 is set to 1 in "User Mode".
' When the user selects channel, team number, or voltage, nvr_PB_mode.bit5 is set to 0
' When in "User Mode", the eight Robot Feedback LED are turned OFF.
' Note: "User Mode" is identified by the letter u in the left digit (for 4 digit OI's)
' Note: "User Mode" is identified by decimal places on the right two digits (for 3 digit OI's)
nvr_PB_mode VAR byte
nvr_PB_mode__comp_mode VAR nvr_PB_mode.bit7
nvr_PB_mode__auton_mode VAR nvr_PB_mode.bit6
nvr_PB_mode__user_display_mode VAR nvr_PB_mode.bit5
nvr_manybits VAR byte
nvr_manybits__twitchdone VAR nvr_manybits.bit0
nvr_manybits__crab_broken VAR nvr_manybits.bit1
nvr_manybits__first_loop VAR nvr_manybits.bit2
nvr_manybits__first_auto_loop VAR nvr_manybits.bit3
nvr_manybits__prev_loop_ctr VAR nvr_manybits.bit4
nvr_manybits__prev_loop_dir VAR nvr_manybits.bit5
nvr_manybits__fwing_brake VAR nvr_manybits.bit6
nvr_manybits__bwing_brake VAR nvr_manybits.bit7
'---------- Operator Interface (OI) - Analog Inputs ----------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
p1_x VAR byte 'Port 1, X-axis on Joystick
pwm5 VAR p1_x
p2_x VAR byte 'Port 2, X-axis on Joystick
pwm6 VAR p2_x
p3_x VAR byte 'Port 3, X-axis on Joystick
pwm7 VAR p3_x
p4_x VAR byte 'Port 4, X-axis on Joystick
pwm8 VAR p4_x
p1_y VAR byte 'Port 1, Y-axis on Joystick
pwm1 VAR p1_y
p2_y VAR byte 'Port 2, Y-axis on Joystick
pwm2 VAR p2_y
'p3_y VAR byte 'Port 3, Y-axis on Joystick
'pwm3 VAR p3_y
p4_y VAR byte 'Port 4, Y-axis on Joystick
pwm4 VAR p4_y
p1_wheel VAR byte 'Port 1, Wheel on Joystick
pwm9 VAR p1_wheel
'p2_wheel VAR byte 'Port 2, Wheel on Joystick
'pwm10 VAR p2_wheel
'p3_wheel VAR byte 'Port 3, Wheel on Joystick
'pwm11 VAR p3_wheel
'p4_wheel VAR byte 'Port 4, Wheel on Joystick
'pwm12 VAR p4_wheel
'p1_aux VAR byte 'Port 1, Aux on Joystick
'pwm13 VAR p1_aux
'p2_aux VAR byte 'Port 2, Aux on Joystick
'pwm14 VAR p2_aux
'p3_aux VAR byte 'Port 3, Aux on Joystick
'pwm15 VAR p3_aux
'p4_aux VAR byte 'Port 4, Aux on Joystick
'pwm16 VAR p4_aux
tmp1 VAR byte
'Keep track of the the user_mode bit (RC request to see user data instead of LEDs)
tmp1_manybits2__force_auto VAR tmp1.bit0 'User requested robot to run auto regardless of auton bit from OI
tmp1_manybits2__prev_user_mode VAR tmp1.bit1 'Previous loop value of the PBMode.user_mode
tmp1_manybits2__many2 VAR tmp1.bit2
tmp1_manybits2__many3 VAR tmp1.bit3
tmp1_manybits2__loop_cnt VAR tmp1.HIGHNIB 'Keep loop count...incrememnted each loop
'---------- Operator Interface - Digital Inputs --------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
oi_swA VAR byte 'OI Digital Switch Inputs 1 thru 8
oi_swB VAR byte 'OI Digital Switch Inputs 9 thru 16
'---------- Robot Controller (RC) - Analog Inputs ------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
sensor1 VAR byte 'RC Analog Input 1, connector pin 2
sensor2 VAR byte 'RC Analog Input 2, connector pin 16
sensor3 VAR byte 'RC Analog Input 3, connector pin 5
sensor4 VAR byte 'RC Analog Input 4, connector pin 19
'sensor5 VAR byte 'RC Analog Input 5, connector pin 8
'sensor6 VAR byte 'RC Analog Input 6, connector pin 22
'sensor7 VAR byte 'RC Analog Input 7, connector pin 11
bat_volt VAR byte 'RC Analog Input 8, hardwired to the Battery
'Vin = ((4.7/14.7)* Battery voltage)-0.4
'Binary Battery Voltage = (Vin/5.0 V)*255
'---------- Robot Controller - Digital Inputs ----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
rc_swA VAR byte 'RC Digital Inputs 1 thru 8
'rc_swB VAR byte 'RC Digital Inputs 9 thru 16
'---------- Robot Controller - Digital Outputs ---------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
relayA VAR byte
relayB VAR byte
'=============================================================================================================
'========== DEFINE ALIASES ===================================================================================
'=============================================================================================================
' Aliases are variables which are sub-divisions of variables defined
' above. Aliases don't require any additional RAM.
'---------- Aliases for each OI switch input -----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the digital inputs located on the Operator Interface.
' Ports 1 & 3 have their inputs duplicated in ports 4 & 2 respectively. The
' inputs from ports 1 & 3 may be disabled via the 'Disable' dip switch
' located on the Operator Interface. See Users Manual for details.
fwing_up_sw VAR oi_swA.bit0 'p1_sw_trig
fwing_dn_sw VAR oi_swA.bit1 'p1_sw_top
bwing_up_sw VAR oi_swA.bit2 'p1_sw_aux1
bwing_dn_sw VAR oi_swA.bit3 'p1_sw_aux2
stacker_up_sw VAR oi_swA.bit4 'p3_sw_trig
stacker_dn_sw VAR oi_swA.bit5 'p3_sw_top
scraper_sw VAR oi_swA.bit6 'p3_sw_aux1
crab_ovr_sw VAR oi_swA.bit7 'p3_sw_aux2
p2_sw_trig VAR oi_swB.bit0 'p2_sw_trig
p2_sw_top VAR oi_swB.bit1 'p2_sw_top
p2_sw_aux1 VAR oi_swB.bit2 'p2_sw_aux1
p2_sw_aux2 VAR oi_swB.bit3 'p2_sw_aux2
crab_trig VAR oi_swB.bit4 'p4_sw_trig
crab_top VAR oi_swB.bit5 'p4_sw_top
drive_trig VAR oi_swB.bit6 'p4_sw_aux1
drive_top VAR oi_swB.bit7 'p4_sw_aux2
'---------- Aliases for each RC switch input -----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the digital inputs located on the Robot Controller.
rc_sw1 VAR rc_swA.bit0
rc_sw2 VAR rc_swA.bit1
rc_sw3 VAR rc_swA.bit2
rc_sw4 VAR rc_swA.bit3
rc_sw5 VAR rc_swA.bit4
rc_sw6 VAR rc_swA.bit5
rc_sw7 VAR rc_swA.bit6
rc_sw8 VAR rc_swA.bit7
'---------- Aliases for each RC Relay outputs ----------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' Below are aliases for the relay outputs located on the Robot Controller.
relay1_fwd VAR relayA.bit0
relay1_rev VAR relayA.bit1
relay2_fwd VAR relayA.bit2
relay2_rev VAR relayA.bit3
relay3_fwd VAR relayA.bit4
relay3_rev VAR relayA.bit5
relay4_fwd VAR relayA.bit6
relay4_rev VAR relayA.bit7
relay5_fwd VAR relayB.bit0
relay5_rev VAR relayB.bit1
relay6_fwd VAR relayB.bit2
relay6_rev VAR relayB.bit3
relay7_fwd VAR relayB.bit4
relay7_rev VAR relayB.bit5
relay8_fwd VAR relayB.bit6
relay8_rev VAR relayB.bit7
'=============================================================================================================
'========= DEFINE CONSTANTS FOR INITIALIZATION ===============================================================
'=============================================================================================================
' The initialization code is used to select the input data used by PBASIC.
' The Master micro-processor (uP) sends the data you select to the BS2SX
' PBASIC uP. You may select up to 26 constants, corresponding
' to 26 variables, from the 32 available to you. Make sure that you have
' variables for all the bytes recieved in the serin command.
'
' The constants below have a "c_" prefix, as compared to the variables that
' they will represent.
'
' Set the Constants below to 1 for each data byte you want to recieve.
' Set the Constants below to 0 for the unneeded data bytes.
'---------- Set the Initialization constants you want to read ------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
c_p1_y CON 1
c_p2_y CON 0
c_p3_y CON 0
c_p4_y CON 1
c_p1_x CON 1
c_p2_x CON 0
c_p3_x CON 1
c_p4_x CON 1
c_p1_wheel CON 0
c_p2_wheel CON 1
c_p3_wheel CON 0
c_p4_wheel CON 1
c_p1_aux CON 0
c_p2_aux CON 0
c_p3_aux CON 0
c_p4_aux CON 1
c_oi_swA CON 1
c_oi_swB CON 1
c_sensor1 CON 1
c_sensor2 CON 1
c_sensor3 CON 1
c_sensor4 CON 1
c_sensor5 CON 1
c_sensor6 CON 0
c_sensor7 CON 0
c_batt_volt CON 1
c_rc_swA CON 1
c_rc_swB CON 0
c_delta_t CON 0
c_PB_mode CON 1
c_packet_num CON 0
c_res01 CON 0
'=============================================================================
'SHARED Constants (these are used by more than one bank and MUST AGREE in each)
TRUE CON 1
FALSE CON 0
'=============================================================================
'Constants for Scratchpad ram locations [0-62] (63 reserved)
'(these constants are shared and must agree in all banks)
'(I just reserved these in the order they come in the serin stream)
s_oi_swA CON 0
s_oi_swB CON 1
s_rc_swA CON 2
s_drive_x CON 3
s_drive_y CON 4
s_crab_x CON 5
s_crab_y CON 6
s_fwing_oi CON 7
s_bwing_oi CON 8
s_stacker_oi CON 9
s_manybits2 CON 10 'additional status bits
's_packet_num CON 11
s_lcrab_pot CON 12 'left crab pot
s_rcrab_pot CON 13 'right crab pot
s_fwing_pot CON 15 'front wing pot
s_bwing_pot CON 16 'back wing pot
's_p3_y CON 17
s_stacker_pot CON 18 'stacker pot
's_sensor6 CON 19
's_p2_wheel CON 20
's_p1_wheel CON 21
's_sensor7 CON 22
'(...end of possible serin inputs. continue now, with outputs and stored user variables.)
s_stacker_tgt CON 25
's_waypoint_sel CON 26
s_waypoint_flgs CON 27 'flags associated with waypoint
s_curr_pos_x CON 32
s_curr_pos_y CON 33
s_curr_orient CON 34 'current compass value (or theta) of the robot
s_target_orient CON 35 'target compass value of the robot
s_fwing_wp_tgt CON 36
s_bwing_wp_tgt CON 37
s_waypoint CON 38
s_target_heading CON 39
s_relayA CON 40
s_relayB CON 41
s_fwing_tgt CON 42
s_bwing_tgt CON 43
s_rcrab_target CON 44
s_lcrab_target CON 45
s_right_crab CON 46 'crab steering motor speed
s_left_crab CON 47
s_rcrab_init CON 48
s_lcrab_init CON 49
s_lf_cur CON 50 'current speed of drive wheels
s_rf_cur CON 51
s_lb_cur CON 52
s_rb_cur CON 53
s_lf_wheel CON 54 'stored value for left_wheel
s_rf_wheel CON 55
s_lb_wheel CON 56
s_rb_wheel CON 57
s_front_wing CON 58 'current speed of wings
s_back_wing CON 59
s_stacker CON 60 'current speed of stacker
s_bat_volt CON 62
s_banknumber CON 63 'Read-Only
' ...insert any other storage names up to 62 that are useful...
'---------- Initialization Constant VOLTAGE - USER DEFINED ---------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
' This is the 'Low Battery' detect voltage. The 'Low Battery' LED will
' blink when the voltage drops below this value.
' Basically, the value = ((DESIRED FLASH VOLTAGE * 16.46) - 8.35)
' Example, for a 6.5 Volt Flash trigger, set value = 99.
dataInitVolt CON 140
'=============================================================================================================
'========== DEFINE CONSTANTS (DO NOT CHANGE) =================================================================
'=============================================================================================================
' Baud rate for communications with User CPU
OUTBAUD CON 20 '(62500, 8N1, Noninverted)
INBAUD CON 20 '(62500, 8N1, Noninverted)
USERCPU CON 4
FPIN CON 1
COMA CON 1
COMB CON 2
COMC CON 3
'=============================================================================================================
'========== MAIN PROGRAM =====================================================================================
'=============================================================================================================
'=============================
'========= SysInit ===========
'=============================
'---------- Input & Output Declarations ----------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
Output COMB
Input COMA
Input COMC
Output 7 'define Basic Run LED on RC => out7
Output 8 'define Robot Feedback LED => out8 => PWM1 Green
Output 9 'define Robot Feedback LED => out9 => PWM1 Red
Output 10 'define Robot Feedback LED => out10 => PWM2 Green
Output 11 'define Robot Feedback LED => out11 => PWM2 Red
Output 12 'define Robot Feedback LED => out12 => Relay1 Red
Output 13 'define Robot Feedback LED => out13 => Relay1 Green
Output 14 'define Robot Feedback LED => out14 => Relay2 Red
Output 15 'define Robot Feedback LED => out15 => Relay2 Green
'---------- Initialize Inputs & Outputs ----------------------------------------------------------------------
'-------------------------------------------------------------------------------------------------------------
Out7 = 1 'Basic Run LED on RC
Out8 = 0 'PWM1 LED - Green
Out9 = 0 'PWM1 LED - Red
Out10 = 0 'PWM2 LED - Green
Out11 = 0 'PWM2 LED - Red
Out12 = 0 'Relay1 LED - Red
Out13 = 0 'Relay1 LED - Green
Out14 = 0 'Relay2 LED - Red
Out15 = 0 'Relay2 LED - Green
'=============================================================================================================
'========== PBASIC - MASTER uP INITIALIZATION ROUTINE ========================================================
'=============================================================================================================
' DO NOT CHANGE THIS! DO NOT MOVE THIS!
' The init routine sends 5 bytes to the Master uP, defining which data bytes to receive.
' 1) Collect init.
' 2) Lower the COMA line, which is the clk line for the shift out command.
' 3) Lower COMB line to tell pic that we are ready to send init data.
' 4) Wait for pic to lower the COMC line, signaling pic is ready for data.
' 5) Now send out init dat to pic, all 5 bytes.
' 6) Now set direction and levels for the COMA and COMB pins.
tempA CON c_p3_x <<1 + c_p4_x <<1 + c_p1_x <<1 + c_p2_x <<1 + c_rc_swB
dataInitA CON tempA <<1 + c_rc_swA <<1 + c_oi_swB <<1 + c_oi_swA
tempB CON c_sensor4 <<1 + c_sensor3 <<1 + c_p1_y <<1 + c_p2_y <<1 + c_sensor2
dataInitB CON tempB <<1 + c_sensor1 <<1 + c_packet_num <<1 + c_PB_mode
tempC CON c_batt_volt <<1 + c_sensor7 <<1 + c_p1_wheel <<1 + c_p2_wheel <<1 + c_sensor6
dataInitC CON tempC <<1 + c_sensor5 <<1 + c_p3_y <<1 + c_p4_y
tempD CON c_res01 <<1 + c_delta_t <<1 + c_p3_aux <<1 + c_p4_aux <<1 + c_p1_aux
dataInitD CON tempD <<1 + c_p2_aux <<1 + c_p3_wheel <<1 + c_p4_wheel
Output COMA
low COMA
low COMB
Input COMC
Wait_init: if IN3 = 1 then Wait_init:
Shiftout COMB,COMA,1, [dataInitA,dataInitB,dataInitC,dataInitD,dataInitVolt]
Input COMA
high COMB
Output COMC
low COMC
'=============================
'========= MemInit ===========
'=============================
p1_x = 127 'Port 1, X-axis on Joystick
p2_x = 127 'Port 2, X-axis on Joystick
p3_x = 127 'Port 3, X-axis on Joystick
p4_x = 127 'Port 4, X-axis on Joystick
p1_y = 127 'Port 1, Y-axis on Joystick
p2_y = 127 'Port 2, Y-axis on Joystick
'p3_y = 127 'Port 3, Y-axis on Joystick
p4_y = 127 'Port 4, Y-axis on Joystick
'p1_wheel = 127 'Port 1, Wheel on Joystick
'p2_wheel = 127 'Port 2, Wheel on Joystick
'p3_wheel = 127 'Port 3, Wheel on Joystick
'p4_wheel = 127 'Port 4, Wheel on Joystick
'p1_aux = 127 'Port 1, Aux Analog
'p2_aux = 127 'Port 2, Aux Analog
'p3_aux = 127 'Port 3, Aux Analog
'p4_aux = 127 'Port 4, Aux Analog
sensor1 = 127
sensor2 = 127
sensor3 = 127
sensor4 = 127
'sensor5 = 127
bat_volt = 127
nvr_PB_mode = 0
'Initialize Scratchpad ram with default (safe) values:
PUT s_oi_swA, 0
PUT s_oi_swB, 0
PUT s_rc_swA, 0
'PUT s_rc_swB, 0
PUT s_drive_x, 127
PUT s_fwing_oi, 127
PUT s_crab_x, 127
PUT s_stacker_oi, 127
'PUT s_PB_mode, 0 'PB_mode is now a persistent ram variable across banks.
'PUT s_packet_num, 0
PUT s_lcrab_pot, 127
PUT s_rcrab_pot, 127
PUT s_drive_y, 127
PUT s_bwing_oi, 127
PUT s_fwing_pot, 127
PUT s_bwing_pot, 127
PUT s_crab_y, 127
'PUT s_p3_y, 127
PUT s_stacker_pot, 127
'PUT s_sensor6, 127
'PUT s_p2_wheel, 127
'PUT s_p1_wheel, 127
'PUT s_sensor7, 127
PUT s_curr_pos_x, 0
PUT s_curr_pos_y, 0
PUT s_curr_orient, 0
PUT s_waypoint, 0
PUT s_target_heading, 0
PUT s_relayA, 0
PUT s_relayB, 0
PUT s_fwing_wp_tgt, 0
PUT s_bwing_wp_tgt, 0
PUT s_fwing_tgt, 127
PUT s_bwing_tgt, 127
PUT s_rcrab_target, 127
PUT s_lcrab_target, 127
PUT s_right_crab, 127
PUT s_left_crab, 127
PUT s_rcrab_init, 127
PUT s_lcrab_init, 127
PUT s_lf_wheel, 127 'final wheel speed to write to motors
PUT s_rf_wheel, 127
PUT s_lb_wheel, 127
PUT s_rb_wheel, 127
PUT s_lf_cur, 127
PUT s_rf_cur, 127
PUT s_lb_cur, 127
PUT s_rb_cur, 127
PUT s_front_wing, 127
PUT s_back_wing, 127
PUT s_stacker, 127
PUT s_bat_volt, 255
'manybits is a bit field of miscelaneous stuff...
nvr_manybits__twitchdone = 0 '1 means twitch test has finished.
nvr_manybits__crab_broken = 0 '1 means crab is broken
nvr_manybits__first_loop = 1 '1 means first time through main loop
nvr_manybits__first_auto_loop = 1
nvr_manybits__prev_loop_ctr = 0
nvr_manybits__prev_loop_dir = 0
PUT s_manybits2, 0
Run 1 'never return