BASIC 语言与机器人

实验一：I/O控制
' {$STAMP BS2}
' {$PBASIC 2.5}
DO
LOW   0      :I/O口输出低电平
LOW    1      :I/O口输出低电平
PAUSE  1000   :延时1000ms
HIGH   0      :I/O口输出高电平
HIGH   1      :I/O口输出高电平
LOOP
END
实验二：电机控制
' {$STAMP BS2}
' {$PBASIC 2.5}
DO              :无条件无限循环
PULSOUT 12,650   :表示在12I/O口输出650*2us的脉冲
PULSOUT 13,850   :表示在12I/O口输出850*2us的脉冲
PAUSE  20   :表示延时20ms
LOOP
注意：PULSOUT 12,650改为750则电机停转，电机转速控制应在650到850之间越靠近750，转速越低。

' {$STAMP BS2}
' {$PBASIC 2.5}
count1 VAR word     ：count1为16位变量0-65535
count2 VAR byte      ：count2为8位变量0-255
count3 VAR nib       ：count3为4位变量0-15
count4 VAR bit       ：count4为1位变量0-1
FOR count1 =1 TO 100
  PULSOUT 12,735
  PULSOUT 13,755
  PAUSE  20
Next

' {$STAMP BS2}
' {$PBASIC 2.5}
count1 VAR Word
count2 VAR Byte
count3 VAR Nib
count4 VAR Bit
DO
  GOSUB Backward         ：调用子程序Backward
  GOSUB liftward           ：调用子程序liftward
  GOSUB Forward          ：调用子程序Forward
LOOP
Rightward:                 ：通过标号定义子程序
  FOR count1 =1 TO 100
    PULSOUT 12,850
    PULSOUT 13,750
    PAUSE  20
  NEXT
RETURN                    ：子程序返回
Liftward:
  FOR count1 =1 TO 100
    PULSOUT 12,750
    PULSOUT 13,850
    PAUSE  20
  NEXT
RETURN
Backward:
  FOR count1 =1 TO 100
    PULSOUT 12,850
    PULSOUT 13,650
    PAUSE  20
  NEXT
RETURN

Forward:
  FOR count1 =1 TO 100
    PULSOUT 12,650
    PULSOUT 13,850
    PAUSE  20
  NEXT
RETURN
实验三：触须机器人
' {$STAMP BS2}
' {$PBASIC 2.5}
count1 VAR Byte
count2 VAR Word
main:
FOR count2=0 TO 100
    FREQOUT 0,2,800   :I/O口0输出800Hz方波信号
NEXT
DO
IF(IN8=0 OR IN9=0)THEN   ：I/O口8/9输入检测
FOR count2=0 TO 100
    FREQOUT 0,2,800
NEXT
    GOSUB Backward
    GOSUB Liftward
ELSE
    GOSUB Forward
ENDIF
LOOP
Backward:
  FOR count1 =1 TO 100
    PULSOUT 12,850
    PULSOUT 13,650
    PAUSE  20
  NEXT
RETURN

Liftward:
  FOR count1 =1 TO 100
    PULSOUT 12,750
    PULSOUT 13,850
    PAUSE  20
  NEXT
RETURN
Forward:
  FOR count1 =1 TO 10
    PULSOUT 12,650
    PULSOUT 13,850
    PAUSE  20
  NEXT
RETURN