� >Driver
:
4� Purpose : Robot Driver nitty gritty procedures
(%� Authur  : � Duncan F. McPherson
2!� Date    : 27th of July 1992
<:
FE� This program is an example driver , which wont actually do much
PE� apart from print commands in VDU 4 mode at the top left of your
Z� desktop display.
d:
nB� To write your own robot driver see the 2Motors basic program
xF� for more details, as it is a fully working driver with a running
�*� comentary included in the rem lines.
�:
�8� --------------------------------------------------
�8� |       Procedures for moving the robot          |
�8� --------------------------------------------------
�:
���moveforward(distance)
�2�4:�0,0);"FORWARD ";distance;"              "
��
�:
���moveback(distance)
�/�4:�0,0);"BACK ";distance;"              "
��

:

��moveleft(degrees)

.�4:�0,0);"LEFT ";degrees;"              "

"�

,:

6��moveright(degrees)

@/�4:�0,0);"RIGHT ";degrees;"              "

J�

T:

^��penup

h"�4:�0,0);"PENUP             "

r�

|:

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��pendown

�"�4:�0,0);"PENDOWN           "

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���pencolour(colour)

�3�4:�0,0);"PENCOLOUR ";colour;"               "

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00000000  0d 00 0a 0d f4 20 3e 44  72 69 76 65 72 0d 00 14  |..... >Driver...|
00000010  05 3a 0d 00 1e 34 f4 20  50 75 72 70 6f 73 65 20  |.:...4. Purpose |
00000020  3a 20 52 6f 62 6f 74 20  44 72 69 76 65 72 20 6e  |: Robot Driver n|
00000030  69 74 74 79 20 67 72 69  74 74 79 20 70 72 6f 63  |itty gritty proc|
00000040  65 64 75 72 65 73 0d 00  28 25 f4 20 41 75 74 68  |edures..(%. Auth|
00000050  75 72 20 20 3a 20 a9 20  44 75 6e 63 61 6e 20 46  |ur  : . Duncan F|
00000060  2e 20 4d 63 50 68 65 72  73 6f 6e 0d 00 32 21 f4  |. McPherson..2!.|
00000070  20 44 61 74 65 20 20 20  20 3a 20 32 37 74 68 20  | Date    : 27th |
00000080  6f 66 20 4a 75 6c 79 20  31 39 39 32 0d 00 3c 05  |of July 1992..<.|
00000090  3a 0d 00 46 45 f4 20 54  68 69 73 20 70 72 6f 67  |:..FE. This prog|
000000a0  72 61 6d 20 69 73 20 61  6e 20 65 78 61 6d 70 6c  |ram is an exampl|
000000b0  65 20 64 72 69 76 65 72  20 2c 20 77 68 69 63 68  |e driver , which|
000000c0  20 77 6f 6e 74 20 61 63  74 75 61 6c 6c 79 20 64  | wont actually d|
000000d0  6f 20 6d 75 63 68 0d 00  50 45 f4 20 61 70 61 72  |o much..PE. apar|
000000e0  74 20 66 72 6f 6d 20 70  72 69 6e 74 20 63 6f 6d  |t from print com|
000000f0  6d 61 6e 64 73 20 69 6e  20 56 44 55 20 34 20 6d  |mands in VDU 4 m|
00000100  6f 64 65 20 61 74 20 74  68 65 20 74 6f 70 20 6c  |ode at the top l|
00000110  65 66 74 20 6f 66 20 79  6f 75 72 0d 00 5a 16 f4  |eft of your..Z..|
00000120  20 64 65 73 6b 74 6f 70  20 64 69 73 70 6c 61 79  | desktop display|
00000130  2e 0d 00 64 05 3a 0d 00  6e 42 f4 20 54 6f 20 77  |...d.:..nB. To w|
00000140  72 69 74 65 20 79 6f 75  72 20 6f 77 6e 20 72 6f  |rite your own ro|
00000150  62 6f 74 20 64 72 69 76  65 72 20 73 65 65 20 74  |bot driver see t|
00000160  68 65 20 32 4d 6f 74 6f  72 73 20 62 61 73 69 63  |he 2Motors basic|
00000170  20 70 72 6f 67 72 61 6d  0d 00 78 46 f4 20 66 6f  | program..xF. fo|
00000180  72 20 6d 6f 72 65 20 64  65 74 61 69 6c 73 2c 20  |r more details, |
00000190  61 73 20 69 74 20 69 73  20 61 20 66 75 6c 6c 79  |as it is a fully|
000001a0  20 77 6f 72 6b 69 6e 67  20 64 72 69 76 65 72 20  | working driver |
000001b0  77 69 74 68 20 61 20 72  75 6e 6e 69 6e 67 0d 00  |with a running..|
000001c0  82 2a f4 20 63 6f 6d 65  6e 74 61 72 79 20 69 6e  |.*. comentary in|
000001d0  63 6c 75 64 65 64 20 69  6e 20 74 68 65 20 72 65  |cluded in the re|
000001e0  6d 20 6c 69 6e 65 73 2e  0d 00 8c 05 3a 0d 00 96  |m lines.....:...|
000001f0  38 f4 20 2d 2d 2d 2d 2d  2d 2d 2d 2d 2d 2d 2d 2d  |8. -------------|
00000200  2d 2d 2d 2d 2d 2d 2d 2d  2d 2d 2d 2d 2d 2d 2d 2d  |----------------|
*
00000220  2d 2d 2d 2d 2d 0d 00 a0  38 f4 20 7c 20 20 20 20  |-----...8. |    |
00000230  20 20 20 50 72 6f 63 65  64 75 72 65 73 20 66 6f  |   Procedures fo|
00000240  72 20 6d 6f 76 69 6e 67  20 74 68 65 20 72 6f 62  |r moving the rob|
00000250  6f 74 20 20 20 20 20 20  20 20 20 20 7c 0d 00 aa  |ot          |...|
00000260  38 f4 20 2d 2d 2d 2d 2d  2d 2d 2d 2d 2d 2d 2d 2d  |8. -------------|
00000270  2d 2d 2d 2d 2d 2d 2d 2d  2d 2d 2d 2d 2d 2d 2d 2d  |----------------|
*
00000290  2d 2d 2d 2d 2d 0d 00 b4  05 3a 0d 00 be 1b dd f2  |-----....:......|
000002a0  6d 6f 76 65 66 6f 72 77  61 72 64 28 64 69 73 74  |moveforward(dist|
000002b0  61 6e 63 65 29 0d 00 c8  32 ef 34 3a f1 8a 30 2c  |ance)...2.4:..0,|
000002c0  30 29 3b 22 46 4f 52 57  41 52 44 20 22 3b 64 69  |0);"FORWARD ";di|
000002d0  73 74 61 6e 63 65 3b 22  20 20 20 20 20 20 20 20  |stance;"        |
000002e0  20 20 20 20 20 20 22 0d  00 d2 05 e1 0d 00 dc 05  |      ".........|
000002f0  3a 0d 00 e6 18 dd f2 6d  6f 76 65 62 61 63 6b 28  |:......moveback(|
00000300  64 69 73 74 61 6e 63 65  29 0d 00 f0 2f ef 34 3a  |distance).../.4:|
00000310  f1 8a 30 2c 30 29 3b 22  42 41 43 4b 20 22 3b 64  |..0,0);"BACK ";d|
00000320  69 73 74 61 6e 63 65 3b  22 20 20 20 20 20 20 20  |istance;"       |
00000330  20 20 20 20 20 20 20 22  0d 00 fa 05 e1 0d 01 04  |       "........|
00000340  05 3a 0d 01 0e 17 dd f2  6d 6f 76 65 6c 65 66 74  |.:......moveleft|
00000350  28 64 65 67 72 65 65 73  29 0d 01 18 2e ef 34 3a  |(degrees).....4:|
00000360  f1 8a 30 2c 30 29 3b 22  4c 45 46 54 20 22 3b 64  |..0,0);"LEFT ";d|
00000370  65 67 72 65 65 73 3b 22  20 20 20 20 20 20 20 20  |egrees;"        |
00000380  20 20 20 20 20 20 22 0d  01 22 05 e1 0d 01 2c 05  |      ".."....,.|
00000390  3a 0d 01 36 18 dd f2 6d  6f 76 65 72 69 67 68 74  |:..6...moveright|
000003a0  28 64 65 67 72 65 65 73  29 0d 01 40 2f ef 34 3a  |(degrees)..@/.4:|
000003b0  f1 8a 30 2c 30 29 3b 22  52 49 47 48 54 20 22 3b  |..0,0);"RIGHT ";|
000003c0  64 65 67 72 65 65 73 3b  22 20 20 20 20 20 20 20  |degrees;"       |
000003d0  20 20 20 20 20 20 20 22  0d 01 4a 05 e1 0d 01 54  |       "..J....T|
000003e0  05 3a 0d 01 5e 0b dd f2  70 65 6e 75 70 0d 01 68  |.:..^...penup..h|
000003f0  22 ef 34 3a f1 8a 30 2c  30 29 3b 22 50 45 4e 55  |".4:..0,0);"PENU|
00000400  50 20 20 20 20 20 20 20  20 20 20 20 20 20 22 0d  |P             ".|
00000410  01 72 05 e1 0d 01 7c 05  3a 0d 01 86 0d dd f2 70  |.r....|.:......p|
00000420  65 6e 64 6f 77 6e 0d 01  90 22 ef 34 3a f1 8a 30  |endown...".4:..0|
00000430  2c 30 29 3b 22 50 45 4e  44 4f 57 4e 20 20 20 20  |,0);"PENDOWN    |
00000440  20 20 20 20 20 20 20 22  0d 01 9a 05 e1 0d 01 a4  |       "........|
00000450  05 3a 0d 01 ae 17 dd f2  70 65 6e 63 6f 6c 6f 75  |.:......pencolou|
00000460  72 28 63 6f 6c 6f 75 72  29 0d 01 b8 33 ef 34 3a  |r(colour)...3.4:|
00000470  f1 8a 30 2c 30 29 3b 22  50 45 4e 43 4f 4c 4f 55  |..0,0);"PENCOLOU|
00000480  52 20 22 3b 63 6f 6c 6f  75 72 3b 22 20 20 20 20  |R ";colour;"    |
00000490  20 20 20 20 20 20 20 20  20 20 20 22 0d 01 c2 05  |           "....|
000004a0  e1 0d ff                                          |...|
000004a3