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SELECT(VarName) CASE Constant1 ... CASE Constant2 ... : CASE ELSE ... ENDSELECT
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' Code Executes if VarName = Constant1 ' Code Executes if VarName = Constant2
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' Code Executes if VarName <> ANY Constants
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THE BASIC STAMP 2 MICROCONTROLLER
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The SELECT/CASE/ENDSELECT statements could be modeled using IF/ELSE/ENDIF statements arranged as:
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IF (Varname = Constant1) ... ' Code Executes if VarName = Constant1 ELSE IF (Varname = Constant1) ... ' Code Executes if VarName = Constant2 ELSE ... ' Code Executes if VarName <> ANY Constants ENDIF ENDIF
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Note that when the multiple IF/ELSE/ENDIF statements are used together, each line is indented to indicate what previous statement it executes under. The DO WHILE/LOOP, DO UNTIL/LOOP, DO /LOOP WHILE, DO /LOOP UNTIL, IF/ELSE/ENDIF, and SELECT/CASE/ENDSELECT statements and the code associated with them are known as decision structures because they are well-defined blocks of code that execute based on the result of a test (or decision). They also go under other names such as flow control or conditional execution statements. Regardless of their name, they are common to most programming languages that you will be working with. If you are already familiar with PBASIC or are referencing other books about BS2, you will probably see that a whole class of decision structures, the IF/THEN and BRANCH, statements is not mentioned. Along with this, if you look on the Internet for sample applications, you probably won t see the decision structures listed here at all in the code. With the introduction of PBASIC 2.5, Parallax introduced these decision structures to allow the application developer to write code using structured programming methodologies. Structured programming eschews the use of GOTO statements as they make a program difficult to read and certain operations, like rewriting the previous IF/ELSE/ENDIF example code.
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IF (A <> B) THEN NotEquals ... ' Code Executes if A = B GOTO Finished NotEquals: ... ' Code Executes if A <> B Finished:
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difficult to implement correctly. (The character strings ending in a colon (:) are labels and indicate specific points in the code execution should jump to.) It is considered good programming form to only use structured programming statements, such as the ones presented in this section, and avoid the use of GOTOs or statements that execute GOTOs all together. Finally, it was implied at the start of the section that all programs should use the program template provided previously as a basis for application programs, which required the use of a DO/LOOP implemented as an infinite loop. There are cases where you will want to execute a simple program that executes a number of statements and stops. This type of program is good for experimenting with the BS2 and learning about different PBASIC statements and functions. When implementing this type of program, always remember to place an END statement at the bottom of the code. The END statement stops the BS2 s interpreter and leaves the
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15.4 UNDERSTANDING AND USING PBASIC
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I/O pins in their current state until power or the reset pin is cycled or a new program is loaded into it. Depending on the function of the example program, either a DO/LOOP is used or an END statement.
15.4.4 BUILT-IN FUNCTIONS
The PBASIC language supports several dozen built-in functions that are used to control some activity of the chip, including sounding tones through an I/O pin or waiting for a change of state on an input. The following functions are among the most useful for robotics. You ll want to study these statements more fully in the BASIC Stamp manual, and more information regarding many of them are discussed elsewhere in this book.
Button. The button function momentarily checks the value of an input and then branches to another part of the program if the button is in a low (0) or high (1) state. This function lets you choose which I/O pin to examine, the target state you are looking for (either 0 or 1), and the delay and rate parameters that can be used for such things as switch debouncing. The button function doesn t stop program execution, which allows you to monitor a number of I/O pins at once. This function s operation is somewhat difficult to understand and will be explained in detail later in the book. Debug and debugin. The BASIC Stamp Editor has a built-in terminal that passes data, in different formats, to and from the BASIC Stamp with the programming PC. These functions are highly useful during testing; for example, you can have the debug function display the parameters that were used to calculate the current output state of an I/O pin, so you can determine whether the program is working properly. Freqout. The freqout function is used to generate tones primarily intended for audio reproduction. You can set the I/O pin, duration, and frequency (in hertz) using this function. An interesting feature of freqout is that you can apply a second frequency, which intermixes with the first. For example, you can combine a straight middle A (440 Hz) with a middle C (523 Hz) to create a kind of chord. Don t expect a symphonic sound, but it works for simple tunes. When freqout is used to drive a speaker you should connect capacitors (and resistors, as required) to build a filter. Pause. The pause function is used to delay execution by a set amount of time. To use pause you specify the number of milliseconds (thousandths of a second) to wait. For example, pause 1000 pauses for 1 s. Pulsin. The pulsin function measures the width of a single pulse with a resolution of two microseconds (2 s). You can specify which I/O pin to use, whether you re looking for a 0-to-1 or 1-to-0 transition, as well as the variable you want to store the result in. Pulsin is handy for measuring time delays in circuits, such as the return ping of an ultrasonic sonar. Pulsout. Pulsout is the inverse of pulsin; with pulsout you can create a finely measured pulse with a duration of between 2 s and 131 milliseconds (ms). The pulsout statement is ideal when you need to provide highly accurate waveforms. Rctime. The rctime statement measures the time it takes for an RC (resistor/capacitor) network to discharge to an opposite logical state. The rctime statement is often used to indirectly measure the capacitance or resistance of a circuit, or simply as a kind of simplified analog-to-digital circuit. Fig. 15-6 shows a sample circuit.
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