//-----------------------------------------------------------------
// Program:		PBot_BOB-A_VC6.osc
// Function:	Lesson B. Proximity Sensor Test
// Designer:	Phil Malone,  phil@philbot.com  www.philbot.com 
// Details:		http://www.philbot.com  
//
// Device:		Bot On a Board (BOB) V1.1  
// Compiler:	OOPic 6.x
// Motor Drive:	SN75410 With Tamiya Gearbox
// Quad encoder:OPB610  
//
//
// Version	Date		Comment	
// -------	---------	------- 
//  1.00    8/8/2005	Original
//-----------------------------------------------------------------

//-------------------------------------------------------
// BOB I/O Port definitions
//-------------------------------------------------------
Const	IO_LINE_LEFT			= 3;	// Left Fairchild Analog Reflective sensor
Const	IO_LINE_MID				= 2;	// Middle Fairchild Analog Reflective sensor
Const	IO_LINE_RIGHT			= 1;	// Right Fairchild Analog Reflective sensor

Const	IO_PROXIMITY_LEFT		= 8;	// Left Sharp Digital Prox sensor
Const	IO_PROXIMITY_RIGHT		= 9;	// Right Sharp Digital Prox sensor
Const	IO_PROXIMITY_REAR		= 10;	// Rear Sharp Digital Prox sensor

Const	IO_LED1					= 12;	// General Purpose LED 1
Const	IO_LED2					= 13;	// General Purpose LED 2
Const	IO_LED3					= 14;	// General Purpose LED 3
Const	IO_LED4					= 15;	// General Purpose LED 4
Const	IO_LED_GROUP			= 1;	// LED I/O Group 1    (Lines 8-15)
Const	IO_LED_NIBBLE			= 1;	// LED I/O High Nible (Lines 12-15)

Const	IO_MOTOR_LEFT_FWD		= 24;	// Left Motor H-Bridge High
Const	IO_MOTOR_LEFT_REV		= 25;	// Left Motor H-Bridge Low
Const	IO_MOTOR_LEFT_PWM		= 18;	// Left Motor PWM control

Const	IO_MOTOR_RIGHT_FWD		= 26;	// Right Motor H-Bridge High	
Const	IO_MOTOR_RIGHT_REV		= 27;	// Right Motor H-Bridge Low	
Const	IO_MOTOR_RIGHT_PWM		= 17;	// Right Motor PWM control

Const	IO_ENCODER_LEFT_FRONT	= 31;	// Left A I/R optical interruptor
Const	IO_ENCODER_LEFT_BACK	= 30;	// Left B I/R optical interruptor
Const	IO_ENCODER_RIGHT_FRONT	= 29;	// Right A I/R optical interruptor
Const	IO_ENCODER_RIGHT_BACK	= 28;	// Right B I/R optical interruptor

//-----------------------------------------------------------------
// Constants, used for default values
//-----------------------------------------------------------------
Const	CLOCK_PRESCALE		=   5;	  	// Divide Clock by 6
Const	FIVE_SECONDS		=  50;	  	// 50 tenths
Const	SLOW_PWM			=   2;	  	// Maximum PWM divide for 312KHz
Const	PWM_PERIOD			= 100;		// Maximum PWM +/- range
Const	OBSTACLE			=  cvLow; 	// Eye Sees Obstacle	
Const	CLEAR				=  cvHigh;	// Eye Does Not see Obstacle	

//-----------------------------------------------------------------
// User Objects.  Use these to access BOB hardware.
//-----------------------------------------------------------------
oCountDownO ActionTimer	= New oCountDownO;	// User Timer	

// LED Object (accessed as individual bits)
oDIO1 		LED1	   	= New oDIO1; 	// Driver for LED1
oDIO1 		LED2	   	= New oDIO1; 	// Driver for LED2
oDIO1 		LED3	   	= New oDIO1; 	// Driver for LED3

// Digital Proximity sensors
oDIO1	  LeftEye		= New oDIO1;	// Left Prox Sensor
oDIO1	  RightEye		= New oDIO1;  	// Right Prox Sensor
oDIO1	  RearEye		= New oDIO1;  	// Rear Prox Sensor

//-----------------------------------------------------------------
// General Variables
//-----------------------------------------------------------------

//-----------------------------------------------------------------
//	BOB Main Program
//-----------------------------------------------------------------
Void Main(Void)
{
	// Always set up the required IO first.
	SetupIO();
	
	// Wait for 5 second "Start Up" to elapse
	While(ActionTimer.NonZero);
		
	// Display Prox state on LEDs
	While(cvTrue)
	{
		LED1.Value 	= ~LeftEye.Value;	// Set LED1 based on Left Eye
		LED2.Value 	= ~RearEye.Value;	// Set LED2 based on Rear Eye
		LED3.Value 	= ~RightEye.Value;	// Set LED3 based on Right Eye
	}
}

//#################################################################
// These are the standard functions that All lessons have
//#################################################################

//-----------------------------------------------------------------
//	SetupIO()
//	Configure all the IO Objects here
//-----------------------------------------------------------------
Void	SetupIO( Void )
{
	// --------------------------------
   	// setup the ActionTimer Timer for 1/10th Second ticks 
	// Preload counter with 5 second delay
	// --------------------------------
	ActionTimer.PreScale	= CLOCK_PRESCALE;
	ActionTimer.ClockIn.Link(ooPIC.Hz60);
	ActionTimer				= FIVE_SECONDS;
	ActionTimer.Operate		= cvTrue;
	
	// --------------------------------
   	// setup the LED Drivers
	// --------------------------------
	LED1.IOLine				= IO_LED1;
	LED1.Direction			= cvOutput ;
	LED2.IOLine				= IO_LED2;
	LED2.Direction			= cvOutput ;
	LED3.IOLine				= IO_LED3;
	LED3.Direction			= cvOutput ;

	// --------------------------------
   	// setup the Eye proximity sensors
	// --------------------------------
	LeftEye.IOLine			= IO_PROXIMITY_LEFT;
	LeftEye.Direction		= cvInput;	
	RightEye.IOLine			= IO_PROXIMITY_RIGHT;
	RightEye.Direction		= cvInput;	
	RearEye.IOLine			= IO_PROXIMITY_REAR;
	RearEye.Direction		= cvInput;	
}

//-----------------------------------------------------------------
//	WaitTenths(Byte Tenths)
//	This function uses the Action timer to wait for a number
//	of "tenths" of a second.  
//	This method is more accurate than the OOPic.Delay function
//-----------------------------------------------------------------
Void WaitTenths(Byte Tenths)
{
	// Set timer
	ActionTimer = Tenths;
	While(ActionTimer.NonZero);
}

//#################################################################
// Lesson specific functions
//#################################################################