'{$STAMP BS2}

'---Set up Variables---
Value 	VAR BYTE				'Holds data value being transmitted
BAUDMODE 	CON 16468

'----------------------------- Main Routine ---------------------------------
debug "Begin"

GOTO Halting

LOOP:

SERIN 16,BAUDMODE, [DEC Value]			'Receive one byte

'------
IF (Value = 1) THEN Halting
IF (Value = 2) THEN RightTurn
IF (Value = 3) THEN RightTurnCycle
IF (Value = 4) THEN LeftTurn
IF (Value = 5) THEN LeftTurnCycle
IF (Value = 6) THEN Forward
IF (Value = 7) THEN GoReverse
IF (Value = 8) THEN EndProg
'------

GOTO LOOP


Halting:
low 3
low 4
low 5
low 6
pause 5
debug "1Halting"
GOTO LOOP
 
RightTurn:
high 3
low 4
high 5
low 6
pause 10
debug "2RightTurn"
GOTO LOOP

RightTurnCycle:
high 3
high 4
high 5
low 6
pause 10
debug "3RightTurnCycle"
GOTO LOOP

LeftTurn:
low 3
high 4
low 5
high 6
pause 10
debug "4LeftTrun"
GOTO LOOP
 
LeftTurnCycle:
high 3
high 4
low 5
high 6
pause 10
debug "5LeftTurnCycle"
GOTO LOOP

Forward:
high 3
high 4
high 5
high 6
pause 10
debug "6Forward"
GOTO LOOP

GoReverse:
low 3
low 4
high 5
high 6
pause 10
debug "7Reverse"
GOTO LOOP
 
EndProg:
debug "8End"