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car_park.bs2
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car_park.bs2
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' {$STAMP BS2}
' {$PBASIC 2.5}
' {$PORT COM7}
ir1 VAR Bit
ir2 VAR Bit
i VAR Byte
j VAR Byte
k VAR Byte
p VAR Byte
a VAR Byte
b VAR Byte
c VAR Byte
x VAR Byte
y VAR Byte
z VAR Byte
l VAR Byte
m VAR Byte
n VAR Byte
us1 VAR Bit
us2 VAR Bit
us3 VAR Bit
us4 VAR Bit
counter VAR Bit
counter = 0
start:
DO
us1 = IN15
us2 = IN14
us3 = IN11
us4 = IN8
FREQOUT 8, 1, 38500
ir1 = IN9
FREQOUT 9, 1, 38500
ir2 = IN10
IF (ir1 =0 AND ir2 =0) THEN
DEBUG HOME, ? ir1
DEBUG LF, ? ir2
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
GOTO start
ELSEIF (ir1 =0 AND ir2 =1) THEN
DEBUG HOME, ? ir1
DEBUG LF, ? ir2
PULSOUT 12, 850
PULSOUT 13, 850
PAUSE 70
GOTO start
ELSEIF (ir1 =1 AND ir2 =0) THEN
DEBUG HOME, ? ir1
DEBUG LF, ? ir2
PULSOUT 12, 650
PULSOUT 13, 650
PAUSE 70
GOTO start
ELSEIF (ir1 =1 AND ir2 =1) THEN
DEBUG LF, ? us1
DEBUG LF, ? us2
DEBUG LF, ? us3
DEBUG LF, ? us4
IF (us1 = 1 AND us2 = 0 AND us3 = 0 AND us4 = 0)THEN
GOTO parking1
ELSEIF (us1 = 0 AND us2 = 1 AND us3 = 0 AND us4 = 0)THEN
GOTO parking2
ELSEIF (us1 = 0 AND us2 = 0 AND us3 = 1 AND us4 = 0)THEN
GOTO parking3
ELSEIF (us1 = 0 AND us2 = 0 AND us3 = 0 AND us4 = 1)THEN
GOTO parking4
ENDIF
ENDIF
LOOP
parking1: ' Going to parking spot 1
FOR i = 1 TO 15
DEBUG LF, ? i
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
FOR j = 1 TO 15
DEBUG LF, ? j
PULSOUT 12, 850
PULSOUT 13, 850
PAUSE 70
NEXT
FOR k = 1 TO 10
DEBUG LF, ? k
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
GOTO finish
parking2: 'Going to parking spot 2
FOR i = 1 TO 15
DEBUG LF, ? i
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
FOR j = 1 TO 13
DEBUG LF, ? j
PULSOUT 12, 650
PULSOUT 13, 650
PAUSE 70
NEXT
FOR k = 1 TO 10
DEBUG LF, ? k
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
GOTO finish
parking3: 'Going to parking spot 3
DO
FREQOUT 8, 1, 38500
ir1 = IN9
FREQOUT 9, 1, 38500
ir2 = IN10
IF(ir1 = 1 AND ir2 = 1 AND counter = 0)THEN
FOR p = 1 TO 4
DEBUG HOME, ? counter
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
DEBUG CLS
GOTO parking3
NEXT
ELSEIF(ir1 = 0 AND ir2 = 0)THEN
counter = 1
DEBUG HOME, ? counter
DEBUG CLS
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
GOTO parking3
ELSEIF(ir1 = 1 AND ir2 = 0)THEN
counter = 1
DEBUG HOME, ? counter
DEBUG CLS
PULSOUT 12, 650
PULSOUT 13, 650
PAUSE 70
GOTO parking3
ELSEIF(ir1 = 0 AND ir2 = 1)THEN
counter = 1
DEBUG HOME, ? counter
DEBUG CLS
PULSOUT 12, 850
PULSOUT 13, 850
PAUSE 70
GOTO parking3
ELSEIF(ir1 = 1 AND ir2 = 1 AND counter = 1)THEN
DEBUG HOME, ? counter
DEBUG LF, ? ir1
DEBUG LF, ? ir2
FOR i = 1 TO 15
DEBUG LF, ? i
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
FOR j = 1 TO 13
DEBUG LF, ? j
PULSOUT 12, 850
PULSOUT 13, 850
PAUSE 70
NEXT
FOR k = 1 TO 10
DEBUG LF, ? k
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
GOTO finish
ENDIF
LOOP
parking4: 'Going to parking spot 4
DO
FREQOUT 8, 1, 38500
ir1 = IN9
FREQOUT 9, 1, 38500
ir2 = IN10
IF(ir1 = 1 AND ir2 = 1 AND counter = 0)THEN
FOR p = 1 TO 4
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
GOTO parking4
NEXT
ELSEIF(ir1 = 0 AND ir2 = 0)THEN
counter = 1
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
GOTO parking4
ELSEIF(ir1 = 1 AND ir2 = 0)THEN
counter = 1
PULSOUT 12, 650
PULSOUT 13, 650
PAUSE 70
GOTO parking4
ELSEIF(ir1 = 0 AND ir2 = 1)THEN
counter = 1
PULSOUT 12, 850
PULSOUT 13, 850
PAUSE 70
GOTO parking4
ELSEIF(ir1 = 1 AND ir2 = 1 AND counter = 1)THEN
FOR i = 1 TO 15
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
FOR j = 1 TO 13
PULSOUT 12, 650
PULSOUT 13, 650
PAUSE 70
NEXT
FOR k = 1 TO 10
PULSOUT 12, 850
PULSOUT 13, 650
PAUSE 70
NEXT
GOTO finish
ENDIF
LOOP
finish:
DEBUG "Finish"