' {$STAMP BS2}
' {$PBASIC 2.5}

time VAR Word               'declare time for sensor
x VAR Byte                  'declare x for counting what station its at
c VAR Byte                  'declare c for bypass sensor rotate motor number of times

HIGH 1                      'turn on sensors

=====================================Motor loop======================================
go:
DO                          
HIGH 0                      'check photoresistor for light
PAUSE 100
RCTIME 0, 1, time
HIGH 2                      'motor turn
PAUSE 3
LOW 2
PAUSE 3
HIGH 4
PAUSE 3
LOW 4
PAUSE 3
HIGH 3
PAUSE 3
LOW 3
PAUSE 3
HIGH 5
PAUSE 3
LOW 5
PAUSE 3
LOOP UNTIL (time = < 50)    'turn motor until light is seen

===================================rules=============================================
IF time = > 50 THEN         'if no light is seen then continue with motor loop
GOSUB go
ENDIF
IF time = < 50 THEN         'if light is seen then stop 
GOSUB stp
ENDIF


===============================stop routine=========================================
stp:
x = x + 1                   'add one to station counting loop

IF x = 1 THEN
DEBUG "Filling Tank To 3000 Gallons of Waste" ,CR
ENDIF
IF x = 2 THEN
DEBUG "Heating Tank To 500 Degrees" , CR
ENDIF
IF x = 3 THEN
DEBUG "Radiation Screening" ,CR
ENDIF
PAUSE 2000
IF x = 4 THEN
DEBUG "Cooling Down Tank" ,CR
HIGH 6
PAUSE 6000
LOW 6
ENDIF
IF x = 5 THEN
DEBUG "Process Complete" ,CR
HIGH 8                                'sound alarm
PAUSE 100
LOW 8
PAUSE 50
HIGH 8
PAUSE 1000
LOW 8                                 'turn off buzzer
LOW 1                                 'turn off sensors
END                                   'end program
ENDIF
GOSUB light

====================================light routine=======================
light:
LOW 1                                 'turn off sensors
DO                                    'rotate motor passed the sensor
HIGH 2
PAUSE 10
LOW 2
PAUSE 10
HIGH 4
PAUSE 10
LOW 4
PAUSE 10
HIGH 3
PAUSE 10
LOW 3
PAUSE 10
HIGH 5
PAUSE 10
LOW 5
PAUSE 10
c = c + 1                             'add one to motor pass count
LOOP UNTIL (c = 9)                    'loop 9 times
c = 0                                 'reset count
HIGH 1                                'turn on sensors
GOSUB go                              'start back over 