            Sequence of operation

The Scribbler unit (and BS2) is called the base unit.

The "mod" unit (and BS2) is called the dome unit. One of the
"hacker" signals is used for a serial connection from the base
to the dome. The other 2 "hacker" lines and the power/gnd are also
provided to the dome unit.

The dome unit acts as the master and controls the base unit
thru the serial connection. The dome unit contains a BS2, an
EMIC text-to-speech module,a speaker,and a MaxSonar ultrasonic
unit. The dome BS2 controls all of these units.

The base unit sits at SERIN waiting for data from the dome and
uses the data send by the dome to branch to a particular routine.

POWER ON
Base:
Sounds a tone to indicate the start of action and 
then goes to the SERIN awaiting some data from the dome.

Dome:
Says "Scanning for targets", then sends a message to the 
base unit to start the motors.

Base: 
Receives the message and starts the motors so the scribbler
turns slowly in a clockwise direction.

Dome: 
Monitors the MaxSonar to see if a target is detected. When a target
is detected sends a message to the base to  stop the motors.

Base:
Receives the message and stops the motors and then goes to 
the SERIN.

Dome:
Says "Target found, getting range".
Says "Distance to target is XX (XX=actual distance) inches"
Says "Proceeding to target"
Send a message to base to start the motors.

Base:
Receives the message and both motors are started forward at
less than 1/2 speed and then goes to the SERIN.

Dome:
Says "XX" (XX is the distance to target in inches as scribbler 
advances toward the target. This is continually updated until
the scribbler is about 10-12 inches from the target.
Sends a message to base to stop the motors.

Base:
Receives the message and stops the motors and goes
to the SERIN.

Dome:
Says "Engines stopped, generating ramming speed"
delay
Says "All ahead full"
Sends a message to base to start motors.

Base:
Receives the message and starts the motors forward full speed
for 1 second and then goes to the SERIN.

Dome:
delay
Says "Target destroyed,checking for battle damage"
delay
Says "No battle damage"
delay
Goes to start of program to start looking for more targets. 



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