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'      TAB Electronics Build Your Own Robot Kit BX24 Behavior 3 (Photophobe)
'                by  Dr. J (Juliano@csuChico.edu)
'                and Matt Bauer (MBauer1@csuChico.edu)
'                California State University, Chico
'                Intelligent Systems Laboratory
'                Chico, CA 95929-0410
'                http://isl.ecst.csuchico.edu
'                October 2004
'
'  BX24 version of Myke Predko's Behavior3 (Photophobe) in PBasic.  This version
'  requires the BX24_byork Interface Module distributed by Chico State's ISL.
'
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Attribute VB_Name = "Photophobe"

Option Explicit

Public Sub Photophobe()

    Dim LeftCDS  As Byte
    Dim RightCDS As Byte
    Dim Touched  As Byte
    Dim Whiskers As Boolean

    Call SetSerialPins( SC , SD )
    Call InitSerialPins()
    Call RobotSend( RobotStop )

'   Wait for Robot to get setup
    Call Sleep( Delay )

'   Flash LED thrice
    Call BlinkLED( 3 )

    Touched  = 0 ' Initialize state of whiskers
    Whiskers = False ' True if whiskers present

    Do ' indefinitely!

        Call ReadCurrentLightLevels( LeftCDS , RightCDS )

        If( LeftCDS = RightCDS ) Then     ' Go straight if equal
            Call GoForward( Whiskers , Touched )
        ElseIf( LeftCDS < RightCDS ) Then ' Turn toward larger
            Call Navigate( RobotRight , RobotPWM3 )
        Else
            Call Navigate( RobotLeft  , RobotPWM3 )
        End If

    Loop ' Until( Feelers <> 0 )

End Sub 'Photophobe()

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