roboBASIC v2.5
==============

action_proc
-----------
action_proc gets a cmnd value +50 from a lower program, and then subtracts 50.

roboRemocon from PC uses byte values of keys, does not depend on 50<RR<83

If action_proc is amended to subtract 48 then it can use PC key ascii values.

altering 47<RR and RR-48 gives 
	0 off
	1 key1
	etc
	@ key16 =poweroff sit

roboremocon replies with 4 bytes
-----------------------------------------------------------------------
No WAIT for SERVO
-----------------
begin:

SPEED 7 	  
MOTOR 1
  	  
SERVO 1,100
WAIT
  	  MUSIC "LAB"
SERVO 1,50
WAIT
  	  MUSIC "LAB"
SERVO 1,100
WAIT
  	  MUSIC "HAB"
SERVO 1,150
WAIT
  	  MUSIC "HAB"
GOTO begin

this shows WAIT doesn't work for SERVO and the whole 
operation is erratic the RTOS for Music and Servos interacts.
Makes no difference if the WAITs are commented out
-----------------------------------------------------------------------
RTOS problems
-------------

begin:

SPEED 7 	  
MOTOR 1
  	  
MOVE G6A,,100
WAIT
  	  MUSIC "LAB"
MOVE G6A,,50
WAIT
  	  MUSIC "LAB"
MOVE G6A,,100
WAIT
  	  MUSIC "HAB"
MOVE G6A,,150
WAIT
  	  MUSIC "HAB"

GOTO begin

This works as expected.
If the WAITs are commented out then the MOVEs are correct 
but the MUSIC doesn't get played after the right move, 
it all gets muddled up.

-----------------------------------------------------------------------
Help from program isn't there
clicking Help icon -> "if you want to use this software then purchase it"

2nd line of 'Overall Template...' is FILL 255,10000
FILL is not in Manual - see DB manual

Seemingly no way of sending values from the robot to the PC, or debuging values.

'2006-07-09 robot_voltage:
'			missing ENDIF before RETURN
'			maximum AD(6) is 88 on fully charged battery
'			not 148 as in original code

Seemingly only way of determining maximum AD(6) value 
is to do a binary search until the error blinking doesn't happen.

IF RR > 50 AND RR < 83 THEN GOTO action_proc 
'this is the only call to action_proc:
action_proc:
falls through to RETURN if RR>82 but there is no where to RETURN to !!!!!
falls through to first program - - see DB manual

===========================================================================
Overall Tempate Program(Version 1.00 20051115).bas
'----------------------
'original
robot_voltage:			' [ 10 x Value / 256 = Voltage]
	DIM v AS BYTE

	A = AD(6)
	
	IF A < 148 THEN 	' 5.8v
	
	FOR v = 0 TO 2
	OUT 52,1
	DELAY 200
	OUT 52,0
	DELAY 200
	NEXT v
		
	RETURN
'----------------------
'amended to work without divider resistors
robot_voltage:			' [ 10 x Value / 256 = Voltage]
	DIM v AS BYTE

	A = AD(6)
	
	IF A < 80 THEN 		' 148=5.8v
		FOR v = 0 TO 2
		OUT 52,1
		DELAY 200
		OUT 52,0
		DELAY 200
		NEXT v
	  endif
	RETURN

===========================================================================