' MultitaskingDemo.bas
' a multitasking tutorial using a Robodyssey Mouse and Gripper
' by C.D.Odom on 5-18-06
' www.basicxandrobotics.com
' chris_odom@georgeschool.org

Option Explicit

' /////////// Globals ///////////
' Pins
Const LeftServoPin as Byte = 5	' Pin #0 on RAMB
Const RightServoPin as Byte = 6	' Pin #1 on RAMB
Const GripperPin as Byte = 7	' Pin #2 on RAMB

' Pulsewidths
Const LeftForward as Single = 0.002
Const RightForward as Single = 0.001
Const GripperOpen as Single = 0.0011
Const GripperClosed as Single = 0.00175

' Allocate space for the stack
Dim GripperStack(1 to 150) as Byte


' /////////// Main ///////////
Public Sub Main()
	' Note Well: Call the task outside of the Do-Loop!
'	CallTask "GripperTask", GripperStack		' Is multitasked

	Do
		' Move forward one step
		Call PulseOut(LeftServoPin, LeftForward, 1)
		Call PulseOut(RightServoPin, RightForward, 1)
		Call Delay(0.02)		' a necessary delay
	Loop
End Sub


' /////////// GripperTask ///////////
Public Sub GripperTask()
	Dim i as Integer

	' Note Well: There IS a Do-Loop here!
	Do
		' Close the Gripper's jaws
		For i = 1 to 20
			Call PulseOut(GripperPin, GripperClosed, 1)
			Call Delay(0.02)
		Next
	
		' Open the Gripper's jaws
		For i = 1 to 20
			Call PulseOut(GripperPin, GripperOpen, 1)
			Call Delay(0.02)
		Next
	Loop
End Sub