Private Sub Download_LichtRobot()
' aangepaste versie lichtsnuffelaar
' tbv. demo 31 aug 2002 HCC
' 1 keer flash = stoppen
' 2 keer flash = starten
' 3 keer flash = richting omkeren
'
' verder sturen door linker of rechter LDR te belichten
' noodstop/start: staart bewegen

Const tel = 12          'naam Var 12
Const break = 11        'naam Var 11
Const flash = 10
Const Command = 9
Const reverse = 8

With RCX

.SelectPrgm SLOT5

 .BeginOfTask MAIN
    .SetSensorType SENSOR_1, LIGHT_TYPE             'lichtverschilsensor
    .SetSensorMode SENSOR_1, PERCENT_MODE, 0
    .SetSensorType SENSOR_2, LIGHT_TYPE             ' lego lichtsensor
    .SetSensorMode SENSOR_2, RAW_MODE, 0
    .SetSensorType SENSOR_3, SWITCH_TYPE            'noodstop/staart
    .SetSensorMode SENSOR_3, BOOL_MODE, 0
        
    .SetVar break, CON, 0
    .SetVar flash, CON, 500     'lichtnivo waarbij robot de zaklamp ziet
    .SetVar Command, CON, 0
    .SetVar tel, CON, 0
    .SetVar reverse, CON, 0
    
    .StartTask 1    'NOODSTOP
    .StartTask 2    'MAIN LOOP
    .StartTask 3    'commando interpreter

.EndOfTask

Rem  ***********************************************
Rem  controleert of de aan/uit schakelaar wordt gedrukt
Rem  ***********************************************
.BeginOfTask 1
    .SetVar break, CON, 0
    .Loop CON, FOREVER
      .If SENVAL, SENSOR_3, 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_300
   .EndLoop
.EndOfTask

Rem  ***********************************************
Rem  main program loop
Rem  ***********************************************
.BeginOfTask 2
     .Loop CON, FOREVER
      .If VAR, break, EQ, CON, 0
            Rem stop het programma
           .Off MOTOR_A + MOTOR_C
       .EndIf
     
      '*******main program ***********
      .If VAR, break, EQ, CON, 1             'start program
         .If SENVAL, SENSOR_1, LT, CON, 30   'volg naar links
           .SetRwd MOTOR_C
           .SetFwd MOTOR_A
           .On MOTOR_A + MOTOR_C
         .Else
           .If SENVAL, SENSOR_1, GT, CON, 70  'volg naar rechts
             .SetRwd MOTOR_A
             .SetFwd MOTOR_C
             .On MOTOR_A + MOTOR_C
             .Else
              .If VAR, reverse, EQ, CON, 0
               .SetFwd MOTOR_C
               .SetFwd MOTOR_A
               .On MOTOR_A + MOTOR_C           'anders rechtdoor
              .Else
               .SetRwd MOTOR_C
               .SetRwd MOTOR_A
               .On MOTOR_A + MOTOR_C           'anders rechtdoor
              .EndIf
           .EndIf
         .EndIf
       .EndIf
      '**** einde main program ****
      .Wait CON, MS_300
  .EndLoop
.EndOfTask

 Rem ---------------------------------------
 Rem wachten tot lamp uit is of max. 1 sec
 Rem ---------------------------------------
 .BeginOfSub 1
   .SetVar tel, CON, 0
    .While CON, tel, LT, CON, 100
     .Wait VAR, MS_10
     .SumVar tel, CON, 1
     .If SENVAL, SENSOR_2, GT, VAR, flash  'lamp is uit
      .SetVar tel, CON, 500
     .EndIf
   .EndWhile
 .EndOfSub
 Rem ---------------------------------------
 Rem wachten tot lamp aan is of max. 1 sec
 Rem ---------------------------------------
 .BeginOfSub 2
   .SetVar tel, CON, 0
   .While CON, tel, LT, CON, 100
    .Wait VAR, MS_10
    .SumVar tel, CON, 1
     .If SENVAL, SENSOR_2, LT, VAR, flash  'lamp is aan
      .SetVar tel, CON, 500
     .EndIf
   .EndWhile
 .EndOfSub

 Rem ---------------------------------------
 Rem commando interpreter
 Rem ---------------------------------------
 .BeginOfTask 3
   .Loop CON, FOREVER
   .SetVar Command, CON, 0
   .If SENVAL, SENSOR_2, LT, VAR, flash
        Rem commando 1
        .SumVar Command, CON, 1
        .GoSub 1 'wacht tot lamp weer uit is
        .Wait VAR, MS_700
       
        .If SENVAL, SENSOR_2, LT, VAR, flash
        Rem commando 2
        .SumVar Command, CON, 1
        .GoSub 1
        .EndIf
       
       .If SENVAL, SENSOR_2, LT, VAR, flash
        Rem commando 3
       .SumVar Command, CON, 1
       .GoSub 1
       .EndIf
   .EndIf
   
   Rem voer commando uit
   .If VAR, Command, EQ, CON, 1
         .PlaySystemSound 0
         .SetVar break, CON, 0      ' stop programma
   .EndIf
   .If VAR, Command, EQ, CON, 2
         .PlaySystemSound 1
         .SetVar break, CON, 1      ' start programma
   .EndIf
   .If VAR, Command, EQ, CON, 3
         .PlaySystemSound 2
         .If VAR, reverse, EQ, CON, 0
          .SetVar reverse, CON, 1    ' achteruit rijden
          .Else
          .SetVar reverse, CON, 0    ' vooruit rijden
          .EndIf
          
   .EndIf
   .EndLoop
.EndOfTask

End With
End Sub