' ==============================================================================
'
'   File...... GaitPIC-Template.bsp
'   Purpose... General code template for using the GaitPIC-Nomad
'   Author.... (C) 2006 Steven R. Norris -- All Rights Reserved
'   E-mail.... norris56@comcast.net
'   Started... 06/29/2006
'   Updated... 07/05/2006
'
'   {$STAMP BS2p}
'   {$PBASIC 2.5}
'
' ==============================================================================

' ------------------------------------------------------------------------------
' Program Description
' ------------------------------------------------------------------------------

' ------------------------------------------------------------------------------
' Revision History
' ------------------------------------------------------------------------------

' 0627a - First version

' ------------------------------------------------------------------------------
' I/O Definitions
' ------------------------------------------------------------------------------

Piezo           PIN     0               ' Piezo Speaker

' GaitPIC interface
Pin_GpBusy      PIN     8               ' Busy
Pin_GpStop      PIN     9               ' All stop
Pin_GP          PIN     10              ' Serial commands

' ------------------------------------------------------------------------------
' Constants
' ------------------------------------------------------------------------------

' GaitPIC baud rate
Gpbaud          CON     45               ' 38400 baud

' Servo positions
Center          CON     750
Raise           CON     600
Lower           CON     300

LiftRamp        CON     7
HorzRamp        CON     8
FootRamp        CON     8

' ------------------------------------------------------------------------------
' Variables
' ------------------------------------------------------------------------------

Gait            VAR     Byte
Direction       VAR     Byte
Speed           VAR     Byte
GaitCount       VAR     Byte

Servo           VAR     Byte
ServoAddr       VAR     Byte
Position        VAR     Word
Ramp            VAR     Byte

counter         VAR     Byte

' ------------------------------------------------------------------------------
' EEPROM Data
' ------------------------------------------------------------------------------

' ------------------------------------------------------------------------------
' Initialization
' ------------------------------------------------------------------------------

  ' Define initial state of all pins
  OUTS=%0000000000000000
  '     FEDCBA9876543210
  DIRS=%0000011000000001    '1=Output

  HIGH Pin_GpStop
  HIGH Pin_GP
  PAUSE 2000

  ' Flush the GaitPIC's receive buffer
  GOSUB FlushIt

  ' Home
  LOW Pin_GpStop
  GOSUB HomeIt

  PAUSE 3000

' ------------------------------------------------------------------------------
' Program Code
' ------------------------------------------------------------------------------
Main:

  ' Your code goes here!
  DO
  LOOP

  STOP
  END

' ------------------------------------------------------------------------------
' Subroutines
' ------------------------------------------------------------------------------

FlushIt:
  SEROUT Pin_GP, GpBaud, [0,0,0,0,0,0,0,0,$FF]
  RETURN

WalkIt:
  SEROUT Pin_GP, GpBaud, ["!w",Gait,Direction,Speed,GaitCount,$FF]
  DO WHILE Pin_GpBusy = 1
  LOOP
  RETURN

StopIt:
  SEROUT Pin_GP, GpBaud, ["!s",$FF]
  DO WHILE Pin_GpBusy = 1
  LOOP
  RETURN

HomeIt:
  SEROUT Pin_GP, GpBaud, ["!h",$FF]
  DO WHILE Pin_GpBusy = 1
  LOOP
  RETURN