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' File : a0101.bas' Description : Drive LED at RBb by HIGH command@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHz

HIGH PORTB.3 ' Set LED at RB3 --> ONLOOP: GOTO LOOP ' Still Here

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' File : a0102.bas' Description : Drive LED at RB4 by basic method

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHz

OUTPUT PORTB.4 ' RB4 --> OUTPUTPORTB.4 = 1 ' Set LED at RB4 --> ONLOOP: GOTO LOOP ' Still Here

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' File : a0103.bas' Description : Basic 3-dots running light

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzTRISB = %11000111 ' RB3,RB4,RB5 --> OUTPUTLOOP: PORTB = %00001000 ' LED at RB3 --> ON

PAUSE 500 ' Delay Time 0.5 SecPORTB = %00010000 ' LED at RB4 --> ONPAUSE 500 ' Delay Time 0.5 SecPORTB = %00100000 ' LED at RB5 --> ONPAUSE 500 ' Delay Time 0.5 SecGOTO LOOP

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' File : a0104.bas' Description : Reading digital input via switch board

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzÄDCON1 = $07 ' Set PORTA & PORTE --> Digital I/OLOOP:IF PORTA.0 = 0 THEN ' Test Switch at RA0 Press ?

FREQOUT PORTA.4,300,1000 ' Show Sound on Piezo 0.3 SecENDIFGOTO LOOP ' Test Again

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00 6#,&-./&C8&:5.K@(5.&:'E&%#,8

+- 56(&/&( 9:; <=))1212 (,\ ^'*-*k112+)((+-1: DEFINE LCD_DREG PORTD ' Set LCD Data port2: DEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) if 4-bit bus3: DEFINE LCD_RSREG PORTC ' Set LCD Register Select port4: DEFINE LCD_RSBIT 0 ' Set LCD Register Select bit5: DEFINE LCD_EREG PORTC ' Set LCD Enable port6: DEFINE LCD_EBIT 5 ' Set LCD Enable bit7: DEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)8: DEFINE LCD_LINES 2 ' Set number of lines on LCD9: DEFINE LCD_COMMANDUS 2000 ' Set command delay time in microsecond10:DEFINE LCD_DATAUS 50 ' Set data delay time in microsecond

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6#6&M DEFINE LCD_EREG PORTC =<e O)&(+]

6#6&< DEFINE LCD_EBIT 5 *(0(/-2X+=<e O+]N< XR

6#6&? DEFINE LCD_BITS 4 '(/&12&+,O((W(/

6#6&> DEFINE LCD_LINES 2 '(+,\ ^OS(

6#6&N DEFINE LCD_COMMANDUS 2000 &(&&2S___/-

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' File : a0105.bas' Description : Show message on LCD module

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHz

DEFINE LCD_DREG PORTD ' Set LCD Data portDEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) if 4-bit busDEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREG PORTC ' Set LCD Enable portDEFINE LCD_EBIT 5 ' Set LCD Enable bitDEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in us

Main: LCDOUT $FE,$01 ' Send Command To Clear ScreenLCDOUT "Innovative" ' Show Text on Line 1LCDOUT $FE,$C0 ' Set Cursor on Line 2LCDOUT "Experiment" ' Show Text on Line 2

END

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' File : a0106.bas' Description : Send serial data to computer by SEROUT command

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzA VAR BYTEA = 0 ' Start A with 0MAIN: SEROUT PORTC.6,2,[A] ' Send A

PAUSE 10 ' Delay 10 MillisecondA = A+1 ' Increment AGOTO MAIN ' Again

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' File : a0107.bas' Description : Send serial data to computer by SEROUT2 command

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzA VAR BYTEA = 0 ' Start A with 0MAIN: SEROUT2 PORTC.6,396,[DEC A," ",BIN A,$0D,$0A]

' Show A in Decimal ModePAUSE 10 ' DelayA = A+1 ' Increment AGOTO MAIN

%0d2

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,((&2HSEROUT [Item ,Item...]

Item 1+,-2&

HSEROUTO&2&+,0-2( 7d2-,&12&0Z:<e1Z;:<e ,5 &2'*/2(,Z;:<e5 .&2DEFINE - *- -

DEFINE HSER_RCSTA 90h Q(/(+,

DEFINE HSER_TXSTA 20h Q(/&+,

DEFINE HSER_BAUD 2400 ( /f-&(

DEFINE HSER_SPBRG 25 (.-'/&;9<Y7d2O-'/&&((+ -2-,&12&0 ,5

1(

'*)(&2HSEROUT(SEROUT2- d'01&2b;]<=Ze'*( -2-,&12&+,0 ,5 *(&+,'*.+)-21(,&12&+,0-&c-2 +)+P*-2&2SEROUT2&c( 0!W(/+d0(5 '*-,&12&+,0 ,5 1 Q&2HSEROUT'*)1-2 '

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' File : a0108.bas' Description : Send serial data to computer by HSEROUT command

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzDEFINE HSER_RCSTA 90h ' Set receive register to receiver enabledDEFINE HSER_TXSTA 20h ' Set transmit register to transmitter enabledDEFINE HSER_BAUD 2400 ' Set baud rateA VAR BYTEA = 0 ' Start A with 0Main: HSEROUT ["Innovative "] ' Show Text in String

HSEROUT ["Experiment ",DEC A,$0D,$0A] ' Show String and Decimal NumberA = A+1 ' increment AGOTO MAIN

,5$,01&']L7![\E89:13'&9=8 :!LWL!_12& *(<9VK$%%()0MbpqEBeEBr@sHI1;EB@HIACrrGs@AHF@Cs?@ABCACDE;FGD@C1(OS>W__(//-,((+,O$[!

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#8,2C8%0# & (3'5F

,((&2SERIN Pin,Mode,Timeout,Label,[Qual...],Item...

Pin1+)-2(+,&((<9VK$%%+< %N=<e L%R

Mode(*,((&12&+,c(_ cd(OS>W__(//-c(S cd((y>"__(//-,((+,O(($[!

Timeout cd(+,- O///-c(+,/-27-)- ,'** -2 Label

Qual O+,-2- (- ((+,-2c+,Q(-2 Item

SERIN&9%0# 26C#8,% &$7 " A&8&26082 #8,e2C 606#B

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' File : a0109.bas' Description : Receive serial data from computer by SERIN command

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzDEFINE LCD_DREGPORTD ' Set LCD Data portDEFINE LCD_DBIT4 ' Set starting Data bit (0 or 4) if 4-bit busDEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREGPORTC ' Set LCD Enable portDEFINE LCD_EBIT5 ' Set LCD Enable bitDEFINE LCD_BITS4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in usA VAR BYTELOOP: SERIN PORTC.7,0,["R"],A

LCDOUT $FE,$01,AGOTO LOOP

%0d2(+,')/ &2;]<[-'*6<O/2

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2/

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:!LWL!W- ()12&+, (<9VK$%%.;EsD;EB@HI Crr@s@AHF@Cs+?@ABCACDE;FGD@C'0x CssEAF&&.+,\ ^((<9VK$%%- (- ((-2&(;EB@HI CrrGs@AHF@Cs+?@ABCACDE;FGD@C

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&2SERIN2(0)/2/'&2SERIN &c,(((+, ((cd&c'&((+, ,((&2--

SERIN2 DataPin\FlowPin,Mode,ParityLabel, Timeout,Label,[Item...]

DataPin1+)-2(+,&((<9VK$%%+< %N=<e L%R

Mode(*,((&12&+,c(Uy"((S>W__(//-c($W'*((y>"__(//-,((+,O(($[!

ParityLabel cd-2* 12/./)''&()/-7d2'*12--'&()/-N(/!U+Mode&O`!aR

Timeout cd* *(+, c-+,+*Label-2 -2- O///-

Item cd!1&(Q(+,-2('+/ZVZSXY&c,((+O(( )12(+,-2* g(

20

' File : a0110.bas' Description : Receive serial data from computer by SERIN2 command

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzDEFINE LCD_DREGPORTD ' Set LCD Data portDEFINE LCD_DBIT4 ' Set data bit start at bit4 in 4-bit modeDEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREGPORTC ' Set LCD Enable portDEFINE LCD_EBIT5 ' Set LCD Enable bitDEFINE LCD_BITS4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in usDAT VAR BYTE[9]LOOP: SERIN2 PORTC.7,396,3000,OUT,[str DAT\9 ]

' Recieve Data 9 bytes save to DATLCDOUT $FE,$01,STR DAT\9 ' Show data on LCD ModuleGOTO LOOP ' Again

OUT: FREQOUT PORTA.4,100,2000 ' If Timeout, generate soundGOTO LOOP

%0d2'O(+,6y+Q( :e7d2O((* '

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:!LWL!%- ()12&+, (<9VK$%%.;EsD;EB@HI Crr@s@AHF@Cs+?@ABCACDE;FGD@C'0x CssEAF&&.+,\ ^((<9VK$%%- (- ((-2&(;EB@HI CrrGs@AHF@Cs+?@ABCACDE;FGD@C

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HSERINO&2(+,0-2( 7d2-,&12&0Z:<e1Z;:<e ,5 &2'*/2(,Z;:<e5 .&2DEFINE - *- -

EFINE HSER_RCSTA 90h Q(/(+,DEFINE HSER_TXSTA 20h Q(/&+,DEFINE HSER_BAUD 2400 ( /f-&( DEFINE HSER_SPBRG 25 (.-'/&;9<Y7d2O-'/&

&((+ -2-,&12&0 ,5

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-,((&2-HSERIN ParityLabel,Timeout,Label,[Item,...]

2.

ParityLabel cd-2* 12/./)''&()/-

Timeout cd* *(+, c-+,+*Label-2 -2- O///-

Item cd!1&(Q(+,-2('+<^7d2Q1+)< %&c,((+O(( )12(+,* g(

'*)(&2HSERIN(SERIN2- d'01&2b;]<['*( -2-,&12&+,0 ,5 *&c-2 +)+P*-2&2SERIN2&c( 0!W(/+d0(5 '*-,&12&+,0 ,5 1 Q&2HSERIN'*)1-2 '

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' File : a0111.bas' Description : Receive serial data from computer by HSERIN command

@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877 and HS OscilatorDEFINE OSC 20 ' Use Oscillator 20 MHzDEFINE HSER_RCSTA 90h ' Set receive register to receiver enabledDEFINE HSER_TXSTA 20h ' Set transmit register to transmitter enabledDEFINE HSER_BAUD 2400 ' Set baud rateDAT VAR BYTE

LOOP: HSERIN [DAT] ' Recieve Data 9 Byte Save To DATDAT = DAT + 3HSEROUT [DAT] ' Send Back To SerialGOTO LOOP ' Again

%0d2'&Qcd(+,')0 &2HSERIN'-2(+d

-U&(-2)0-O&Q+,-2(+')0&c*P/k&-

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'***********************************************************'* Name : P0301.BAS *'* Notes : Test Direction of Motor *'***********************************************************@ DEVICE PIC16F877,HS_OSC ; used PIC16F877DEFINE OSC 20 ; Oscillator = 20 MHzLOOP:;***** Motor Free ***************

FREQOUT PORTA.4,200,2000 ; Beep;..... Motor A .........

LOW PORTC.2 ; Disable Motor ALOW PORTD.0LOW PORTD.1

;..... Motor B .........LOW PORTC.1 ; Disable Motor BLOW PORTD.2LOW PORTD.3PAUSE 5000 ; Delay 5 Second

;***** Motor Lock ***************FREQOUT PORTA.4,200,2000 ; Beep

;..... Motor A .........HIGH PORTC.2 ; Enable Motor A

;..... Motor B .........HIGH PORTC.1 ; Enable Motor BPAUSE 5000 ; Delay 5 Second

;***** Motor Forward ************ FREQOUT PORTA.4,200,2000 ; Beep;..... Motor A .........

LOW PORTD.0HIGH PORTD.1

;..... Motor B .........HIGH PORTD.2LOW PORTD.3PAUSE 5000 ; Delay 5 Second

;***** Motor Backword ***********FREQOUT PORTA.4,200,2000 ; Beep

;..... Motor A .........HIGH PORTD.0LOW PORTD.1

;..... Motor B .........LOW PORTD.2HIGH PORTD.3PAUSE 5000 ; Delay 5 SecondGOTO LOOP

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'*****************************************************************'* Name : P0401.BAS *'* Notes : Turn Robot And Spin Robot *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ; used PIC16F877DEFINE OSC 20 ; Oscillator = 20 MHzHIGH PORTC.2 ; Enable Motor AHIGH PORTC.1 ; Enable Motor B

LOOP:;***** Motor Turn Left ****************

FREQOUT PORTA.4,200,2000 ; BeepLOW PORTD.0 : LOW PORTD.1 ;.. Motor A ....HIGH PORTD.2 : LOW PORTD.3 ;.. Motor B ....PAUSE 5000 ; Delay 5 Second

;***** Motor Turn Right ****************FREQOUT PORTA.4,200,2000 ; BeepLOW PORTD.0 : HIGH PORTD.1 ;.. Motor A ....LOW PORTD.2 : LOW PORTD.3 ;.. Motor B ....PAUSE 5000 ; Delay 5 Second

;***** Motor Spin Left ****************FREQOUT PORTA.4,200,2000 ; BeepHIGH PORTD.0 : LOW PORTD.1 ;.. Motor A ....HIGH PORTD.2 : LOW PORTD.3 ;.. Motor B ....PAUSE 5000 ; Delay 5 Second

;***** Motor Spin Right ****************FREQOUT PORTA.4,200,2000 ; BeepLOW PORTD.0 : HIGH PORTD.1 ;.. Motor A ....LOW PORTD.2 : HIGH PORTD.3 ;.. Motor B ....PAUSE 5000 ; Delay 5 Second

GOTO LOOP

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'*****************************************************************'* Name : P0501.BAS *'* Notes : Speed Control *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ; used PIC16F877DEFINE OSC 20 ; Oscillator = 20 MHzOUTPUT PORTC.1 ; RC1 = OUTPUT BEFORE USE CH#2

LOOP:HPWM 1 ,(100*255)/100,20000 ; Alway ONHPWM 2 ,(100*255)/100,20000 ; Alway ON

;***** Motor Forward ****************FREQOUT PORTA.4,200,2000 ; BeepLOW PORTD.0 : HIGH PORTD.1 ; ..... Motor AHIGH PORTD.2 : LOW PORTD.3 ; ..... Motor BPAUSE 5000 ; Delay 5 Second

FREQOUT PORTA.4,200,2000 ; BeepHPWM 1 ,(90*255)/100,20000 ; 20kHz, Duty Cycle 90%HPWM 2 ,(90*255)/100,20000 ; 20kHz, Duty Cycle 90%PAUSE 5000 ; Delay 5 Second

FREQOUT PORTA.4,200,2000 ; BeepHPWM 1 ,(80*255)/100,20000 ; 20kHz , Duty Cycle 80%HPWM 2 ,(80*255)/100,20000 ; 20kHz , Duty Cycle 80%

PAUSE 5000 ; Delay 5 Second

GOTO LOOP

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'*****************************************************************'* Name : P0601.BAS *'* Notes : Control Movement *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ; used PIC16F877

DEFINE OSC 20 ; Oscilator = 20 MHzHIGH PORTC.2 ; Enable Motor AHIGH PORTC.1 ; Enable Motor BTRISD = %11110000 ; RD0-RD3 = OUTPUTLoop:

GOSUB FORWARD : PAUSE 2000 ; Forward 2 secondGOSUB S_LEFT90 ; Turn Left 90 deg.GOSUB FORWARD : PAUSE 2000 ; Forward 2 secondGOSUB S_RIGHT90 ; Turn Right 90 deg.GOSUB BACKWARD : PAUSE 2000 ; Backward 2 secondGOSUB S_RIGHT90 ; Turn Right 90 deg.GOTO Loop ; Do again

FORWARD: PORTD = %00000110 : RETURN ; Forward routineBACKWARD: PORTD = %00001001 : RETURN ; Backward routineS_LEFT90: PORTD = %00000101 : PAUSE 600 : RETURN

; Turn left 90 deg. routineS_RIGHT90: PORTD = %00001010 : PAUSE 600 : RETURN

; Turn right 90 deg. routine

)*L "#>/-0<0<!

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'*****************************************************************'* Name : P0701.BAS *'* Notes : Test Direction of Motor *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ' used PIC16F877

SENSOR0 VAR WORDDEFINE OSC 20 ' Oscilator = 20 MHzDEFINE ADC_BITS 10 ' Set number of bits in resultDEFINE ADC_CLOCK 3 ' Set clock source (Internal RC = 3)DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microseconds

DEFINE LCD_DREG PORTD ' Set LCD Data portDEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) if 4-bit busDEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREG PORTC ' Set LCD Enable portDEFINE LCD_EBIT 5 ' Set LCD Enable bitDEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in us

ADCON1 = %10000000 ' All PORTA & PORTE is Analog

MAIN:ADCIN 0, SENSOR0 ' Read channel 2LCDOUT $FE,$01,"SENSOR0 = ", DEC SENSOR0PAUSE 500

GOTO MAIN

7 8.97 8# 78 '(+:1.;+<)=99 78 >+(

DEFINE ADC_CLOCK !:;$ <<=[\!12!3%:40@/4 !#,B3 % 4

N#O]12<<=[\!9 1"?6JQ/^"AN5O]12<<=[\!9 17?6JQ/^7AN"O]12<<=[\!9 1B"?6JQ/^B"ANBO]12<<=[\!!)/9 1?6)/A

DEFINE ADC_SAMPLEUS 50 !4% ;>%3 3 !PAUSEUS $;13;!%41!!Channel 4%!;4<<=

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'*****************************************************************'* Name : P0801.BAS *'* Notes : Track Line *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ; used PIC16F877SENSOR0 VAR WORDSENSOR1 VAR WORD

DEFINE OSC 20 ; Oscilator = 20 MHzDEFINE ADC_BITS 10 ; Set number of bits in resultDEFINE ADC_CLOCK 3 ; Set clock source (Internal RC = 3)DEFINE ADC_SAMPLEUS 50 ; Set sampling time in microseconds

HIGH PORTC.2 ; Enable Motor AHIGH PORTC.1 ; Enable Motor BTRISD = %11110000 ; RD0-RD3 = OUTPUTADCON1 = %10000000 ; All PORTA & PORTE is Analog

MAIN:ADCIN 0,SENSOR0 ; Read channel 0ADCIN 1,SENSOR1 ; Read Channel 1

IF (SENSOR0 > 200) AND (SENSOR1 > 200) THEN ForwardIF (SENSOR0 < 200) AND (SENSOR1 < 200) THEN ForwardIF (SENSOR0 < 200) THEN S_LeftIF (SENSOR1 < 200) THEN S_RightGOTO MAIN

FORWARD: PORTD = %00000110 : GOTO MAIN ; Forward RoutineBACKWARD: PORTD = %00001001 : GOTO MAIN ; Backward RoutineS_LEFT: PORTD = %00000101 : GOTO MAIN ; Turn Left RoutineS_RIGHT: PORTD = %00001010 : GOTO MAIN ; Turn Right Routine

7 8.=7 8 ##?82""?4&@ABA.;+'#38

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'*****************************************************************'* Name : P1001.BAS *'* Notes : Use SERIN2 Receive Data From Remote Control *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ' used PIC16F877KEY VAR BYTEDEFINE OSC 20 ' Oscilator = 20 MHzDEFINE LCD_DREG PORTD ' Set LCD Data portDEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4)DEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREG PORTC ' Set LCD Enable portDEFINE LCD_EBIT 5 ' Set LCD Enable bitDEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in us

ADCON1 = $07 ' ALL PORTA & PORTE = Digital I/OMAIN:

SERIN2 PORTA.2,813,2000,MAIN,[KEY] ' Receive Data From IR Module

LCDOUT $FE,$01," KEY = ", KEY ' Show Data On LCD Module

IF (KEY = "A") OR (KEY = "a") THEN ' Check Key = "A" or "a" ?FREQOUT PORTA.4,100,2000 ' 2kHz BeepENDIF

IF (KEY = "B") OR (KEY = "b") THEN ' Check Key = "B" or "b" ?FREQOUT PORTA.4,100,2200 ' 2.2kHz BeepENDIF

IF (KEY = "C") OR (KEY = "c") THEN ' Check Key = "C" or "c" ?FREQOUT PORTA.4,100,2400 ' 2.4kHz BeepENDIF

IF (KEY = "D") OR (KEY = "d") THEN ' Check Key = "D" or "d" ?FREQOUT PORTA.4,100,2600 ' 2.6kHz BeepENDIF

GOTO MAIN

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'*****************************************************************'* Name : P1101.BAS *'* Notes : Control ROBO-PICA With Remote Control *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ' used PIC16F877KEY VAR BYTEDEFINE OSC 20 ' Oscilator = 20 MHzADCON1 = $07 ' ALL PORTA & PORTE = Digital I/OHIGH PORTC.2 ' Enable Motor AHIGH PORTC.1 ' Enable Motor BTRISD = %11110000 ' RD0-RD3 = OUTPUTMAIN: SERIN2 PORTA.2,813,100,FREE,[KEY] ' Wait Recieve Motor

' If No Data Stop MotorIF (KEY = "A") OR (KEY = "a") THEN Backward ' Pess A or a actionIF (KEY = "B") OR (KEY = "b") THEN S_Right ' Press B or b actionIF (KEY = "C") OR (KEY = "c") THEN S_Left ' Press C or c actionIF (KEY = "D") OR (KEY = "d") THEN Forward ' Press D or d actionGOTO MAIN

FREE: PORTD = %00000000 : GOTO Main ' Stop motor routineFORWARD: PORTD = %00000110 : goto Main ' Forward routineBACKWARD: PORTD = %00001001 : Goto Main ' Backward routineS_LEFT: PORTD = %00000101 : GOTO Main ' Turn left routineS_RIGHT: PORTD = %00001010 : GOTO Main ' Turn right routine

AB 9-A* C!.**: & 19 ^ 4H 8 8 1.: ADCON1 = $07

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'*****************************************************************'* Name : P1301.BAS *'* Notes : Detect Wall Show Status ON LCD *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ' Use PIC16F877

DEFINE OSC 20 ' Oscilator = 20 MHz

DEFINE LCD_DREG PORTD ' Set LCD data portDEFINE LCD_DBIT 4 ' Set starting Data bitDEFINE LCD_RSREG PORTC ' Set LCD register Select portDEFINE LCD_RSBIT 0 ' Set LCD register Select bitDEFINE LCD_EREG PORTC ' Set LCD enable portDEFINE LCD_EBIT 5 ' Set LCD enable bitDEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in us

ADCON1 = $07 ' ALL PORTA & PORTE = Digital I/OMAIN:HIGH PORTE.1 ' Infrared LED ON

HIGH PORTE.0IF (PORTA.3 = 0) THEN ' Check IR MOdule detection

LCDOUT $FE,$01,"DETECT WALL_L"' If detect, show on LCD

ENDIFIF (PORTA.5 = 0) THEN

LCDOUT $FE,$01,"DETECT WALL_R"ENDIFPAUSE 100 ' DelayLCDOUT $FE,$01GOTO MAIN ' Check again

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'*****************************************************************'* Name : P1401.BAS *'* Notes : Detect Wall *'*****************************************************************@ DEVICE PIC16F877,HS_OSC ' used PIC16F877DEFINE OSC 20 ' Oscilator = 20 MHz

ADCON1 = $07 ' ALL PORTA & PORTE = Digital I/OHIGH PORTC.2 ' Enable Motor AHIGH PORTC.1 ' Enable Motor BTRISD = $F0 ' Set low nibble PORTD for driving motorMAIN:

HIGH PORTE.1 ' Infrared LED onHIGH PORTE.0IF (PORTA.3 = 1) AND (PORTA.5 = 1) THEN FORWARD ' Not detect, go

straightIF (PORTA.3 = 0) THEN LEFT ' Detect from leftIF PORTA.5 = 0 THEN RIGHT ' Detect from rightGOTO MAIN

FORWARD: PORTD = %00000110 :GOTO MAINLEFT: PORTD = %00001001 : PAUSE 1000 : PORTD = %00000101 : PAUSE 800

GOTO MAINRIGHT: PORTD = %00001001 : PAUSE 1000 : PORTD = %00001010 : PAUSE 800

GOTO MAIN

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'****************************************************************'* Name : P1601.BAS *'* Notes : Read data from GP2D120 module *'****************************************************************

@ DEVICE PIC16F877a , HS_OSC ' Use PIC16F877 and HS OscilatorDAT VAR Word ' Save Raw DataSENSOR7 VAR WORD ' Save DataI var byte ' CounterR var word ' Save Converted DataDEFINE OSC 20 ' Use Oscillator 20 MHzDEFINE ADC_BITS 10 ' Set number of bits in resultDEFINE ADC_CLOCK 3 ' Set clock source (Internal RC = 3)DEFINE ADC_SAMPLEUS50 ' Set sampling time in microseconds

DEFINE LCD_DREG PORTD ' Set LCD Data portDEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) if 4-bit busDEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREG PORTC ' Set LCD Enable portDEFINE LCD_EBIT 5 ' Set LCD Enable bitDEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCD

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DEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in us

ADCON1 = %10000000 ' All PORTA & PORTE is AnalogMain:

Dat = 0 ' Clear data for AverateFor i = 1 to 5 ' Loop 5 time for averate data ADCIN 7,SENSOR7 ' Read channel 7 dat = (Sensor7 + DAT) ' sum datanextDAT = DAT/5 ' averate dataLCDOUT $FE,$01,"Raw = ",DEC3 Dat ' show RAW data on LCDR = (2914 / (DAT+5)) -1 ' Convert data ==> centimeterLCDOUT $FE,$C0,"Far = ",DEC2 R," CM"' Show On LCDpause 200goto Main ' Again

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'****************************************************************'* Name : P1701.BAS *'* Notes : Robo-PICA in Object detection mission *'****************************************************************

@ DEVICE PIC16F877a , HS_OSC ' Use PIC16F877 and HS OscilatorSENSOR7 VAR WORD ' Save DataDEFINE OSC 20 ' Use Oscillator 20 MHzDEFINE ADC_BITS 10 ' Set number of bits in resultDEFINE ADC_CLOCK 3 ' Set clock source (Internal RC = 3)DEFINE ADC_SAMPLEUS 50 ' Set sampling time in microsecondsDEFINE LCD_DREG PORTD ' Set LCD Data portDEFINE LCD_DBIT 4 ' Set starting Data bit (0 or 4) if 4-bit busDEFINE LCD_RSREG PORTC ' Set LCD Register Select portDEFINE LCD_RSBIT 0 ' Set LCD Register Select bitDEFINE LCD_EREG PORTC ' Set LCD Enable portDEFINE LCD_EBIT 5 ' Set LCD Enable bitDEFINE LCD_BITS 4 ' Set LCD bus size (4 or 8 bits)DEFINE LCD_LINES 2 ' Set number of lines on LCDDEFINE LCD_COMMANDUS 2000 ' Set command delay time in usDEFINE LCD_DATAUS 50 ' Set data delay time in us

HIGH PORTC.2 ' Enable Motor AHIGH PORTC.1 ' Enable Motor BTRISD = %11110000 ' RD0-RD3 = OUTPUTADCON1 = %10000000 ' All PORTA & PORTE is Analog

Main: ADCIN 7,SENSOR7 ' Read channel 7LCDOUT $FE,$80,"Raw = ",DEC3 Sensor7 ' show RAW data on LCDIF (sensor7 > 350) thenPORTD = %00001001 ' Robot BackwardPause 500PORTD = %00000101 ' Robot Spin Leftpause 1000endifPORTD = %00000110 ' Robot Forwardgoto Main

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