Robots Page

Breanna Joachim's Robot!!!!!

 Here are some pictures 

 			This is a picture of my firefighting robot and me.
This is the second model in my robot that I have made.

Here is my code!!!!!!!

program firefight6

Dim x as byte
Dim Duration as Integer
Dim SCenterAve as word
Dim SRightAve as word

Dim SLeftAve as word
Dim flamecenter as word
Dim flameright as word
Dim flameleft as word
'*************************
Sub Procedure Forward
PortC = %10100101    'Bits 2 and 5 are Enable
End Sub
'*************************
Sub Procedure Reverse
PortC = %01100110
Delay_ms(50)
PortC = 0
Delay_ms(5)
End Sub
'*************************
Sub Procedure T_Right
PortC = %10100110
Delay_ms(50)
PortC = 0
Delay_ms(5)
End Sub
'*************************
Sub Procedure T_Left
PortC = %01100101
Delay_ms(50)
PortC = 0
Delay_ms(5)
End Sub
'*************************
Sub Procedure Halt
PortC = %00000000
End Sub
'*************************
Sub Procedure Sort
    If SRightAve > SCenterAve Then
    Duration = 8
    While Duration > 1
    T_left
    Duration = Duration - 1
    Wend
    End If

    If SLeftAve > SCenterAve Then
    Duration = 8
    While Duration > 1
    T_Right
    Duration = Duration - 1
    Wend
    End If

    If SCenterAve > 250 Then
    Duration = 12
    While Duration > 1
    T_left
    Duration = Duration - 1
    Wend
    End If
    End Sub
'*************************
Sub Procedure Sortflame
    If flameright < flamecenter then
    Duration = 11
    While Duration > 1
    T_Right
    Duration = Duration - 1
    Wend
    End If

    If flameleft < flamecenter then
    Duration = 11
    While Duration > 1
    T_Left
    Duration = Duration - 1
    Wend
    End If

    If flamecenter < 100 then
        Halt
x = 60
Do
SetBit(PortB,1)
Delay_us(800)
ClearBit(PortB,1)
Delay_ms(20)
x = x - 1
loop Until x = 0
x = 42
Do
SetBit(PortB,1)
Delay_us(2500)
ClearBit(PortB,1)
Delay_ms(20)
x = x - 1
loop Until x = 0

    Delay_ms(1000)
    End If
End Sub
'*************************
Sub Procedure Center
x = 12
Do
SetBit(PortB,0)
Delay_us(1500)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
SCenterAve = Adc_Read(1)
flamecenter = Adc_Read(0)
End Sub
'********************
Sub Procedure BlindCenter
x = 12
Do
SetBit(PortB,0)
Delay_us(1500)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
End Sub

'********************
Sub Procedure FarRight
x = 20

Do
SetBit(PortB,0)
Delay_us(2000)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
SRightAve = Adc_Read(1)
flameright = Adc_Read(0)
End Sub
 '********************
Sub Procedure FarLeft
x = 17
Do
SetBit(PortB,0)
Delay_us(800)
ClearBit(PortB,0)
Delay_ms(20)
x = x - 1
Loop Until x = 0
SLeftAve = Adc_Read(1)
flameleft = Adc_Read(0)
End Sub
 '********************
Sub Procedure IRScan
iF FlameCenter > 300 Then
       If SCenterAve > 300 then
       Sort
       end if
       If SRightAve > 300 then
       Sort
       end if
       If SLeftAve > 300 then
       Sort
       end if
End IF
End Sub
'********************
Sub Procedure FlameScan
    If flamecenter < 600 then
    Sortflame
    end if
    If flameright < 700 then
    Sortflame
    end if
    If flameleft < 700 then
    Sortflame
    end if
End Sub
'********************
main:
trisb = %00000000
trisa = %00011111
trisc = %00000000
ADCON1 = %10000000
'sound_init(PortC,3)

PortB = 0
FarRight
Center
FarLeft
While True
       FarRight
       Center
       FarLeft
       Flamescan
       IRScan
       Forward
       BlindCenter
Wend
End.