'>TinyTim                                                DLB 20-5-94
'0-smf  1-smb  2-pmf  3-pmb  4-bump  5-sound  6-sldr  7-pldr
'bump sensors -:  sf-4k7 pf-lOk   rear not connected
symbol bumpscale =123
symbol lightscale =100
symbol bright =50      'black is 255, incandescent is 0
	dirs =%1111	'motor pins Outputs
start:
	gosub tune   :random w5   :b8 =b10&%11
	pot 4,bumpscale,b2    :if b2=0 then avoidLR
	if b2>200 then avoidR :if b2>100 then avoidL
	pot 6,lightscale,b2   :pot 7,lightscale,b3
		debug #b3,#b2,cr
	if b2>b3 then darkright

darkleft:
	b4 =b3-b2 :if b4<20 then explore
	if b2<bright then turnright  :goto curveright

darkright:
	b4 =b2-b3 :if b4<20 then explore
	if b3<bright then turnleft   :goto curveleft

explore:
	b9=b9+l :if b9>5 then newmove :goto start
newmove:
	pins =b10&%1010 :b9=0 :goto start   '&%1010=>mtrs only fd

avoidL:	    pins =%0101 :gosub tune5 :pins =%0001 :gosub tune3   :goto start
avoidR:	    pins =%0101 :gosub tune5 :pins =%0100 :gosub tune3   :goto start
avoidLR:    pins =%0101 :gosub tune4 :pins =%0001 :gosub tune4   :goto start :goto start
turnleft:   pins =%0110 :gosub tune2 :goto start
curveleft:  pins =%0010 :gosub tunel :goto start
turnright:  pins =%1001 :gosub tune2 :goto start
curveright: pins =%1000 :gosub tunel :goto start

tune:       for b2 =200 to 127 : sound 5,(b2,4) : next b2 : return
tunel:      sound 5,(100,10,0,10) :return
tune2:      sound 5,(126,3,0,3)   :return
tuneS:      sound 5,(227,10)      :return
tune4:      sound 5,(180,b8,190,b8,200,b8) :return
tune5:      for b2 =0 to 50 : sound 5,(227,b8) : next b2 : return