' {$STAMP BS2}
' {$PBASIC 2.5}

'Navigate with Feelers

Navigate:

counter VAR Word

DO

IF (IN12 = 1) THEN	‘IN12 is a button, it equals 0 when pressed
  PAUSE 1

ELSE

PAUSE 2000

DO

IF (IN7 = 0) THEN
  FOR counter = 1 TO 25		‘Reverses Boebot
    PULSOUT 12, 650
    PULSOUT 13, 850
    PAUSE 20
  NEXT

  FOR counter = 1 TO 12		‘Turns Boebot
    PULSOUT 12, 650
    PULSOUT 13, 650
    PAUSE 20
  NEXT

ELSEIF (IN5 = 0) THEN
  FOR counter = 1 TO 25		‘reverses Boebot
    PULSOUT 12, 650
    PULSOUT 13, 850
    PAUSE 20
  NEXT

  FOR counter = 1 TO 12		‘turns Boebot
    PULSOUT 12, 850
    PULSOUT 13, 850
    PAUSE 20
  NEXT

ELSEIF (IN12 = 0) THEN		‘Supposed to return to start of program when button is pressed again
    PAUSE 1000
  GOTO   Navigate

ELSE
    PULSOUT 12, 850		‘Drives forward
    PULSOUT 13, 650
    PAUSE 20

ENDIF

LOOP

ENDIF

LOOP