( Incomplete code for buzzing wall following robot - SCOTTY ORR )
( The code here is only for the buzzing portion. Code not presented )
( here was covered in class. Check your notes. )



LOOPINDEX SPIN-CNT EEWORD
LOOPINDEX BUZZ-ON-CNT EEWORD
LOOPINDEX BUZZ-OFF-CNT EEWORD

VARIABLE BUZZ-COUNTER EEWORD

( ----- motor defs, etc cut here ----- )

: OBSTACLE? PA7 OFF? ; EEWORD ( if using analog sensor, will be different )

MACHINE BUZZALOT EEWORD


ON-MACHINE BUZZALOT
  APPEND-STATE START_BUZZ EEWORD
  APPEND-STATE BUZZ_ON EEWORD
  APPEND-STATE BUZZ_OFF EEWORD
  APPEND-STATE SPIN_L EEWORD
  APPEND-STATE BUZZ_PAUSED EEWORD


( ----- WALLBOT machine and wall following code cut here ----- )


IN-STATE BUZZ_PAUSED
CONDITION FALSE 
CAUSES
THEN-STATE BUZZ_PAUSED TO-HAPPEN IN-EE

( Note on above: since always false - CAUSES may be left blank )
( and is never executed. THEN-STATE must be specified but will )
( never transition. Only way to get out of this state is with )
( a SET-STATE from another machine... )

IN-STATE START_BUZZ
CONDITION TRUE
CAUSES
  3000 PWMA0 PWM-PERIOD
  3000 PWMA0 PWM-OUT
THEN-STATE BUZZ_ON TO-HAPPEN IN-EE

IN-STATE BUZZ_ON
CONDITION BUZZ-ON-CNT COUNT
CAUSES
  PWMA0 OFF
  1 BUZZ-COUNTER +!
THEN-STATE BUZZ_OFF TO-HAPPEN IN-EE

IN-STATE BUZZ_OFF
CONDITION BUZZ-OFF-CNT COUNT BUZZ-COUNTER @ 5 < AND
CAUSES
  3000 PWMA0 PWM-OUT
THEN-STATE BUZZ_ON TO-HAPPEN IN-EE

IN-STATE BUZZ_OFF
CONDITION BUZZ-COUNTER @ 5 = OBSTACLE? AND
CAUSES
  LBAK
  RSTOP
  0 BUZZ-COUNTER !
THEN-STATE SPIN_L TO-HAPPEN IN-EE

IN-STATE BUZZ_OFF
CONDITION BUZZ-COUNTER @ 5 = OBSTACLE? NOT AND
CAUSES
  STARTUP SET-STATE ( this is initial state in WALLBOT machine )
  0 BUZZ-COUNTER !
THEN-STATE BUZZ_PAUSED TO-HAPPEN IN-EE

IN-STATE SPIN_L
CONDITION SPIN-CNT COUNT
CAUSES
  STARTUP SET-STATE  ( in WALLBOT )
THEN-STATE BUZZ_PAUSED TO-HAPPEN IN-EE

: MAIN ( initialize variables, set initial states, install machines )
150 SPIN-CNT END
50 BUZZ-ON-CNT END
50 BUZZ-OFF-CNT END
0 BUZZ-COUNTER !
STARTUP SET-STATE
BUZZ_PAUSED SET-STATE
INSTALL WALLBOT
INSTALL BUZZALOT ; EEWORD

( IMPORTANT NOTE: Any state called with SET-STATE must have only )
( one transition. That includes states set from MAIN as well as )
( those set from other machines. These states usually have a )
( condition of TRUE - (or maybe FALSE). )