' -----[ Program Title and Description ]-----------------------------------

' top_board.bs2
' set pins according to values in code (xxx,yy,zzz)
' xxx = mode
'  yy reserved
' zzz = arrow
' Author: "Speaker", IMT Industries, as usual - borrowing heavily from Parallax
' {$STAMP BS2}
' {$PBASIC 2.5}

' -----[ Select Stamp ]---------------------------------------

#SELECT $STAMP
  #CASE BS2, BS2E, BS2PE
    T9600 CON 84
  #CASE BS2SX, BS2P
    T9600 CON 240
  #CASE BS2PX
    T9600 CON 396
#ENDSELECT

' -----[ Variables ]-------------------------------------------------------

Baud        CON       T9600
Rx          CON       15            ' XBee DOUT
Tx          CON       14            ' XBee DIN
RTS         CON       11            ' XBee RTS
My_Addr     CON       $4            ' Set address of node, modify as desired, -
                                    ' - $1-$FFFE
check       VAR       Byte
code        VAR       Byte
mode        VAR       Nib
arrow       VAR       Nib

' -----[ Initialization ]--------------------------------------------------

' -----[ Configure XBee to use RTS and set Address ]---------------------

PAUSE 500
DEBUG CLS,"Configuring XBee...",CR
PAUSE 3000                                ' Guard time
SEROUT Tx,Baud,["+++"]                    ' Command Mode Sequence
PAUSE 2000                                ' Guard time
SEROUT Tx,Baud,["ATD6 1",CR]              ' Enable RTS
SEROUT Tx,Baud,["ATMY ", HEX My_Addr,CR]  ' Set node address
SEROUT TX,Baud,["ATCN",CR]                ' Exit Command Mode
DEBUG "Awaiting data...",CR

' -----[ Main Routine ]----------------------------------------------------

DO
  SERIN Rx\RTS,Baud,[check]             ' Accept delimiter byte
  DEBUG CLS
  IF check = "!" THEN                   ' Is start delimiter?
    SERIN Rx\RTS,Baud,[DEC code]

    DEBUG "code = ", BIN8 code, CR

    mode = code >> 5                    ' Get rid of 5 least significant bits

    arrow = code
    arrow = arrow << 1                  ' Get rid of anything in the 4th bit
    arrow = arrow >> 1

    DEBUG "mode  = ", BIN3  mode, " arrow = ", BIN3 arrow,CR

    OUTL = code                         ' These two lines of code are causing the problem
    DIRL = 255

  ENDIF
LOOP