Listing 9.2: Cut and paste this program into the code window of the OOPic Multi-language Compiler

'A simple program to control two DC motors (through a 'Pololu Micro Dual Serial Motor Controller) and two 'bump switches.

Dim S As New oSerialx Dim R As New oDio1 Dim LSwitch As New oDio1 Dim RSwitch As New oDio1

Sub Main()

'Turn internal "pullup resistor" on OOPic.Pullup = cvTrue

'Assign bump switches to I/O pins 8 and 10 LSwitch.IOLine = 8 LSwitch.Direction = cvInput RSwitch.IOLine = 10 RSwitch.Direction = cvInput

R.IOLine= 31 'reset pin S.Baud = cv4800 S.IolineS = 30 'motor controller pin S.Operate = cvTrue R.Direction = cvOutput OOPic.Delay = 50

'Reset the motor controller R.Invert 'invert reset pin R.Invert 'invert reset pin

'Run "Do...Loop" Do 'Check if either switch is depressed If (LSwitch.Value = 0) or (RSwitch.Value = 0) then

'If depressed, back robot up and turn

'Motor 1 S.Value = 128 'Start byte S.Value = 0 'Device type S.Value = 1 'Motor and direction S.Value = 120 'Motor speed

'Motor 2 S.Value = 128 'Start byte S.Value = 0 'Device type S.Value = 2 'Motor and direction S.Value = 60 'Motor speed

OOPic.Delay = 200

'Reset the motor controller R.Invert 'Invert reset pin R.Invert 'Invert reset pin

End If 'Send robot forward

'Motor 1 S.Value = 128 'Start byte S.Value = 0 'Device type S.Value = 0 'Motor and direction S.Value = 127 'Motor speed

'Motor 2 S.Value = 128 'Start byte S.Value = 0 'Device type S.Value = 3 'Motor and direction S.Value = 127 'Motor speed

OOPic.Delay = 5

Loop

End Sub