Private Sub Download_Kompas3()
Rem versie waarbij motor wordt gebruikt om
Rem kompas te draaien

Const break = 11         'naam Var 11
Const pos = 10
Const dif = 9
Const azimuth = 8

With RCX
.SelectPrgm SLOT3

.BeginOfTask MAIN
    Rem noodstop
    .SetSensorType SENSOR_1, SWITCH_TYPE
    .SetSensorMode SENSOR_1, BOOL_MODE, 0
    Rem kompas sensor
    .SetSensorType SENSOR_2, LIGHT_TYPE
    .SetSensorMode SENSOR_2, RAW_MODE, 0
    
    .SetVar break, CON, 0
    .SetVar pos, CON, 0
    .SetVar dif, CON, 0
    
    'doel
     .SetVar azimuth, CON, 1     '1 = N, 2 = NO, 3=O, 4=ZO, 5=Z, 6=ZW, 7=W, 8=NW
    

    .StartTask 1    'noodstop
    .StartTask 2    'positie lezen
    
.EndOfTask

Rem  ***********************************************
Rem  controleert of de aan/uit schakelaar wordt gedrukt
Rem  ***********************************************
.BeginOfTask 1
    .SetVar break, CON, 0
    .Loop CON, FOREVER
      .If SENVAL, SENSOR_1, EQ, CON, 1    'sensor staart active
           .SumVar break, CON, 1
           .If VAR, break, EQ, CON, 2
           .SetVar break, CON, 0
           .EndIf
       .EndIf
      .Wait CON, MS_500                    '300
   .EndLoop
.EndOfTask


Rem  ***********************************************
Rem  main program loop
Rem  ***********************************************
.BeginOfTask 2
 
 
    '*******main program ***********
      
         .SetRwd MOTOR_A
         .On MOTOR_A                         ' verplaats uit startpositie
         .Wait CON, SEC_2
         .Off MOTOR_A
         .SetFwd MOTOR_A
         
  .Loop CON, FOREVER
  'net zolang draaien totdat pos = azimuth
  .On MOTOR_A
  
    'Noorden
    .If SENVAL, SENSOR_2, EQ, CON, 863
     .SetVar pos, CON, 1
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 862
     .SetVar pos, CON, 1
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 861
     .SetVar pos, CON, 1
    .EndIf
    
    .If SENVAL, SENSOR_2, EQ, CON, 920
    .SetVar pos, CON, 2
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 919
     .SetVar pos, CON, 2
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 918
     .SetVar pos, CON, 2
    .EndIf
    
    .If SENVAL, SENSOR_2, EQ, CON, 810
     .SetVar pos, CON, 3
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 809
     .SetVar pos, CON, 3
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 808
     .SetVar pos, CON, 3
    .EndIf
    
    .If SENVAL, SENSOR_2, EQ, CON, 856
     .SetVar pos, CON, 4
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 855
     .SetVar pos, CON, 4
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 854
     .SetVar pos, CON, 4
    .EndIf

    .If SENVAL, SENSOR_2, EQ, CON, 810
     .SetVar pos, CON, 5
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 809
     .SetVar pos, CON, 5
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 808
     .SetVar pos, CON, 5
    .EndIf
    
    .If SENVAL, SENSOR_2, EQ, CON, 831
     .SetVar pos, CON, 6
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 830
     .SetVar pos, CON, 6
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 829
     .SetVar pos, CON, 6
    .EndIf
    
    .If SENVAL, SENSOR_2, EQ, CON, 788
     .SetVar pos, CON, 7
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 787
     .SetVar pos, CON, 7
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 786
     .SetVar pos, CON, 7
    .EndIf
    
    .If SENVAL, SENSOR_2, EQ, CON, 887  'NW
     .SetVar pos, CON, 8
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 886  'NW
     .SetVar pos, CON, 8
    .EndIf
    .If SENVAL, SENSOR_2, EQ, CON, 885  'NW
     .SetVar pos, CON, 8
    .EndIf

        Rem dif = pos - azimuth
        .SetVar dif, VAR, pos
        .SubVar dif, VAR, azimuth
         
        'dit werkt
        .If VAR, dif, EQ, CON, 0
         .PlaySystemSound 0
         .Off MOTOR_A
         .StopAllTasks
        .EndIf
  
  
  
  
       
  .EndLoop
.EndOfTask




End With

End Sub