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high 1 RepeatCode: pause 100 toggle 1 goto RepeatCode
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In this program, I/O pin 1 is set to 1 (HIGH). The program then pauses for 100 milliseconds (one-tenth of a second) and then toggles I/O pin 1 to its opposite state. The goto statement makes the program jump back to the RepeatCode label. With each trip through the code, I/O pin 1 is toggled HIGH or LOW. If the pin is connected to an LED, for example, it would flash on and off rapidly 10 times each second. Gosub is similar to goto, except that when the code at the label is done, the program returns to the statement immediately after gosub. Here s an example:
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490 USING THE BASIC STAMP
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high 1 low 2 gosub FlashLED '... some other code here stop FlashLED: toggle 1 toggle 2 pause 100 return
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The program begins by setting I/O pin 1 to HIGH and I/O pin 2 to LOW. It then calls the FlashLED routine, using the gosub statement. The code in the FlashLED routine toggles I/O pins 1 and 2 from their previous state, waits one-tenth of a second (100 milliseconds), and then returns with the return flow control statement. Note the stop statement used before the FlashLED label. It prevents the code from re-executing the FlashLED routine when it is not intended. The for statement is used with the to and next statements. All form a controlled counter that is used to repeat the code a set number of times. The syntax for the for statement is:
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for Variable = StartValue to EndValue [more statements] next
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Variable is a variable that is used to contain the current count of the for loop. StartValue is the initial value applied to Variable. Conversely, EndValue marks the maximum value that will be applied to Variable. The loop breaks out and the rest of the program continues to execute when the Variable exceeds EndValue. For example, if you use the following,
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for VarName = 1 to 10
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the loop starts with 1 in VarName and counts to 10. The for loop is repeated 10 times. You don t have to start with 1, and you can use an optional step keyword to tell the for loop that you want to count by 2s, 3s, or some other value:
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for VarName = 5 to 7 for VarName = 1 to 100 step 10 ' counts from 5 to 7 ' counts from 1 to 100, but steps by 10
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For loops are used to execute whatever programming lies between the for and next statements. Here s a simple example:
high 1 for VarName = 1 to 10 toggle 1 pause 100 next
This program repeats the for loop a total of 10 times. At each iteration through the loop, I/O pin 1 is toggled (HIGH to LOW, and back again). The Basic Stamp supports additional flow control statements, all of which are detailed in the Basic Stamp manual. These include Branch and End.
UNDERSTANDING AND USING PBASIC 491
SPECIAL FUNCTIONS
The PBasic language supports several dozen special functions that are used to control some activity of the chip, including ones to sound tones through an I/O pin or to wait for a change of state on an input. I ll briefly review here the special functions most useful for robotics. You ll want to study these statements more fully in the Basic Stamp manual (available for free download from Parallax and also included in the Starter Kit as a printed book).
I button. The button statement momentarily checks the value of an input and then branch-
es to another part of the program if the button is in a LOW (0) or HIGH (1) state. The button statement 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 statement doesn t stop program execution, which allows you to monitor a number of I/O pins at once. debug. The Basic Stamp Editor has a built-in terminal that displays the result of bytes sent from the Basic Stamp back to the PC. The debug statement echoes numbers or text to the screen and is highly useful during testing. For example, you can have the debug statement display the current state of an I/O pin, so you can visually determine whether or not the program is working properly. freqout. The freqout statement is used to generate tones primarily intended for audio reproduction. You can set the I/O pin, duration, and frequency (in Hertz) using the freqout statement. 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. input.The input statement makes the specified I/O pin an input. As an input, the value of the pin can be read in the program. Many of the special function statements, such as button and pulsin, automatically set an I/O pin as an input, so the input statement is not needed for these. See the next section, Interfacing Switches and Other Digital Inputs, for additional information on the input statement. pause. The pause statement 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 one second. pulsin. The pulsin statement 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. 31.6 shows a sample circuit.
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