; calibration shows that left motor (servo 0) is stopped a 112 and right motor (servo 6) is stopped at 100. ; NB MUST set "silent" mode for accuracy. ; set the speed change delay as low as possible set S00time 1 ; left set S02time 1 ; pen set S06time 1 ; right ; ------------------------------ ; "L" ; ------------------------------ call PenDown call Fwd delay 550 call PenUp call TurnLeft90 call PenDown call Fwd delay 350 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 300 call PenUp call TurnRight90 call PenDown call Fwd delay 500 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call Rev delay 600 call TurnLeft90 ; ------------------------------ ; "M" ; ------------------------------ call PenDown call Fwd delay 550 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 350 call PenUp call TurnRight90 call TurnRight45 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnRight90 call TurnRight45 call PenDown call Fwd delay 350 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 550 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnLeft45 call PenDown call Fwd delay 100 call PenUp call TurnRight90 call PenDown call Fwd delay 100 call PenUp call TurnLeft45 call PenDown call Fwd delay 100 call PenUp call Rev delay 800 call TurnLeft90 ; ------------------------------ ; "R" ; ------------------------------ LMR_R call PenDown call Fwd delay 550 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 200 call PenUp call TurnRight90 call TurnRight45 call PenDown call Fwd delay 250 call PenUp call TurnLeft45 call PenDown call Fwd delay 120 call PenUp call TurnLeft90 call TurnLeft45 call PenDown call Fwd delay 250 call PenUp call TurnRight90 call TurnRight45 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 300 call PenUp call TurnLeft90 call PenDown call Fwd delay 700 call PenUp ; the hole in the middle call Rev delay 100 call TurnLeft90 call Fwd delay 50 call PenDown call Fwd delay 50 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp call TurnLeft90 call PenDown call Fwd delay 50 call PenUp call TurnLeft90 call PenDown call Fwd delay 100 call PenUp ; All Done. call Rev delay 1500 call AllOff ; ------------------------------ ; this is the end of the "main" ; ------------------------------ stop ; ------------------------------ ; turns ; ------------------------------ TurnRight90 call Rev delay 170 call Right delay 320 call Fwd delay 150 call MotorsOff return ; TurnRight90 TurnLeft90 call Rev delay 170 call Left delay 320 call Fwd delay 150 call MotorsOff return ; TurnLeft90 TurnRight60 call Rev delay 170 call Right delay 170 call Fwd delay 150 call MotorsOff return ; TurnRight60 TurnLeft60 call Rev delay 170 call Left delay 170 call Fwd delay 150 call MotorsOff return ; TurnLeft60 TurnRight45 call Rev delay 170 call Right delay 80 call Fwd delay 150 call MotorsOff return ; TurnRight45 TurnLeft45 call Rev delay 170 call Left delay 80 call Fwd delay 150 call MotorsOff return ; TurnLeft45 ; ------------------------------ ; low-level calls ; ------------------------------ Rev call MotorsOff set S00dem 102 ; left rev set S06dem 110 ; right rev call MotorsOn return ; Rev Fwd call MotorsOff set S00dem 122 ; left fwd set S06dem 90 ; right fwd call MotorsOn return ; Fwd Left ; 4 3/4 turns in 10 secs call MotorsOff set S00dem 102 ; left rev set S06dem 90 ; right fwd call MotorsOn return ; Left Right call MotorsOff set S00dem 122 ; left fwd set S06dem 110 ; right rev call MotorsOn return ; Right MotorsOff set enable 4 ; all stop (except pen) return ; MotorsOff MotorsOn set enable 69 ; left, right and pen return ; MotorsOn AllOff set enable 0 ; all servos disabled return ; MotorsOff PenUp set enable 4 set S02dem 130 delay 100 return ; PenUp PenDown set enable 4 set S02dem 110 delay 100 return ; PenDown end