' nonMultitaskingDemo.bas
' shows what happens if you do NOT use multitasking techniques.
' This tutorial uses 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


' /////////// Main ///////////
Public Sub Main()
	Do
		Call Gripper()		' Not multitasked
	
		' Move forward one step
		Call PulseOut(LeftServoPin, LeftForward, 1)
		Call PulseOut(RightServoPin, RightForward, 1)
		Call Delay(0.02)		' a necessary delay

	Loop
End Sub


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

	' Note Well: There is NO Do-Loop here!

	' 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
End Sub