# robotControl3.bas
' I/O from Palm III to Parallax Basic Stamp II
' uses HotPaw Basic for Palm

draw -1
xx = 42
lx= 42
draw 13,58,133,9,5
draw circle 6,62,4
draw circle 152,62,4
draw xx, 60, 5, 5, 4
notup = 1

check1:
notup = fn pen(0)
while notup <> 0
   open "com1:", 19200 as #5
   draw "o",13,45
notup = fn pen(4)
xx = fn pen(1)
yy = fn pen(2)
xx = xx - 3
if yy > 55 and yy < 68 then
if xx < 13 then 
xx = lx - 4
notup = 0
endif
if xx > 141 then
xx = lx + 4
notup = 0
endif
if xx > 13 and xx < 141then 
xout = int((xx - 15)/4)
endif

serout:
put #5, xout
s = fn serial(5)
if s > 0 then dummy$=get$(#5,s-1)
getit2:
robotL$ = get$(#5,0)
if robotL$ = "-1" then goto getit2
draw robotL$ + "   ", 136,45

draw str$(xout) + "   ", 116 ,45
draw (lx - 1), 59 , 7, 7,-7
dx = (15 + (xout*4))
lx = dx
draw dx, 60, 5, 5, 7
endif
wend
notup = 1
draw (lx - 1), 59 , 7, 7,-7
draw dx, 60, 5, 5, 4

serout:
put #5, xout
put #5, xout

serin:
s = fn serial(5)
if s > 0 then dummy$=get$(#5,s-1)
getit:
   if fn pen(4) <> 0 then goto check1
robotL$ = get$(#5,0)
if robotL$ = "-1" then goto getit
draw robotL$ + "   ", 136,45

robx = val(robotL$)
if robx <> xout then goto serin
   close #5
   draw "   ",13,45

goto check1

end