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'      TAB Electronics Build Your Own Robot Kit BX24 Behavior 1 (Random)
'                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 Behavior1 (Random) in PBasic.  This version
'  requires the BX24_byork Interface Module distributed by Chico State's ISL.
'
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Attribute VB_Name = "RandomNav"

Option Explicit

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Public Sub RandomNav()

    Dim RandByte As Byte

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

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

'   Flash LED once
    Call BlinkLED( 1 )

    Do
        RandByte = Random(NumChoices)
        Select Case (RandByte)
            Case 1 
                Call Navigate( RobotForward , RobotPWM3 )
            Case 2
                Call Navigate( RobotRight   , RobotPWM3 )
            Case 3 
                Call Navigate( RobotLeft    , RobotPWM3 )
            Case Else
                Call Navigate( RobotStop    , RobotPWM0 )
        End Select
    Loop

End Sub 'RandomNav()

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