{{Use this with a Parallax Demoboard.  It's very flexible- it includes audio, video, mouse, keyboard
eeprom, and a protoype area.

<name>Print text to a terminal</>
<description>This program uses the terminal blocks to print text to the built-in terminal.  Doing this can help you debug your programs.  Here I print both strings and the value of a variable.  I also position  the cursor and clear the terminal.</>
<schematic>












</>
<hardware></>
<objects></>
<images></>
}}
CON
  _clkmode = xtal1+pll16x
  _xinfreq = 5_000_000       '80 MHz
  _motorlpin=0  'Left motor
  _motorrpin=1  'Right motor
  _micpin=8     'Microphone 
  _mic2pin=9    'Microphone Dac
  _iranodepin=1 'Common anode of ir distance sensors, driven with 38khz signal  
  _audiolpin=10 'Audio Left
  _audiorpin=11 'Audio Right
  _videopin=12  'Video
  _video2pin=13 'Video
  _video3pin=14 'Video
  _video4pin=15 'Video  
  _mousedpin=24 'Mouse Data
  _mousecpin=25 'Mouse Clock
  _keydpin=26   'Keyboard Data
  _keycpin=27   'Keyboard Clock
  _eepromDpin=28 'Eeprom Data
  _eepromCpin=29 'Eeprom Clock   
  _vppin=30     'ViewPort Conduit
  _vp2pin=31    'ViewPort Conduit
  #0,right,left,forward,backward,stopit
  
OBJ
   _servo:"servo32v6"
   _bs:"bs"
   _vp            :"Terminal"  'terminal+conduit
VAR
  long _outp,_inp,_io
  long alert
  long speed
  long x
  long _s_right[40]
  long _s_left[40]
  long _s_forward[40]
  long _s_backward[40]
  long _s_stopit[40]
pub _main|_s_pub2[70],_s_pubright[70],_s_publeft[70],_s_pubforward[70],_s_pubbackward[70],_s_pubstopit[70]
  _vp.config(string("var:outp,inp,io(bits=[30tx,31rx]),alert,speed,x"))
  _vp.config(string("terminal:1"))
  _vp.config(string("lsa:view=io,timescale=1ms"))
  _vp.config(string("overview:view=[alert,speed,x]"))
  _vp.config(string("dso:view=alert"))
  _vp.share(@_outp,@x)
  'initialize global objects and call global start blocks
_bs.start(28,29)
_servo.motors(_motorlpin,_motorrpin)
_servo.start
cognew(_pub2,@_s_pub2)
  repeat
    _io:=ina
pub _broadcast(msg)
  case msg
    right:cognew(_p_right,@_s_right)
    left:cognew(_p_left,@_s_left)
    forward:cognew(_p_forward,@_s_forward)
    backward:cognew(_p_backward,@_s_backward)
    stopit:cognew(_p_stopit,@_s_stopit)
    -1:
pub _broadcastsync(msg)
  case msg
    right:_p_right
    left:_p_left
    forward:_p_forward
    backward:_p_backward
    stopit:_p_stopit
    -1:
pub _do_state(state)
  case state
    -1:
'other public functions
pub _p_right'*(708,71):pub _p_$
 _servo.go(0,0,speed)'*:_servo.go(0,0,$)
 _vp.str(string("RIGHT"))'*:_vp.str($)
 _vp.linefeed'*:_vp.linefeed
pub _p_left'*(710,183):pub _p_$
 _servo.go(0,0,-speed)'*:_servo.go(0,0,$)
 _vp.str(string("LEFT"))'*:_vp.str($)
 _vp.linefeed'*:_vp.linefeed
pub _pub2'*(39,55):cognew($0,@_s$0)
 alert:=false'*:$:=$
 {arbitrator}'*:{$}
 _vp.Clear'*:_vp.Clear
 _vp.str(string("Nomad Command Processor"))'*:_vp.str($)
 _vp.linefeed'*:_vp.linefeed
 _vp.str(string("Version 1.0"))'*:_vp.str($)
 _vp.linefeed'*:_vp.linefeed
 _vp.linefeed'*:_vp.linefeed
 speed:=30'*:$:=$
 repeat'*:repeat
  x:=_vp.rxcheck'* 1:$:=$
  if x>0'*:if $
   if x=="f" '* 1:if $ %elseif $ '1%elseif $ '2%elseif $ '3%elseif $ '4%elseif $ '5%elseif $ '6%elseif $ '7%elseif $ '8%else 
    _broadcast(forward)'* 1:_broadcast($)
   elseif x=="b" '1
    _broadcast(backward)'* 2:_broadcast($)
   elseif x=="l" '2
    _broadcast(left)'* 3:_broadcast($)
   elseif x=="r" '3
    _broadcast(right)'* 4:_broadcast($)
   elseif x=="s" '4
    _broadcast(stopit)'* 5:_broadcast($)
   elseif x==" " '5
    _broadcast(stopit)'* 6:_broadcast($)
   elseif x=="1" '6
    speed:=30'* 7:$:=$
   elseif x=="2" '7
    speed:=50'* 8:$:=$
   elseif x=="3" '8
    speed:=70'* 9:$:=$
   else 
    _vp.dec(x)'* 10:_vp.dec($)
pub _p_forward'*(311,55):pub _p_$
 alert:=false'*:$:=$
 _servo.go(0,speed,0)'*:_servo.go(0,$,0)
 _vp.str(string("WANDER"))'*:_vp.str($)
 repeat 100'*:repeat $
  if alert'* 1:if $
   quit'* 1:quit
  _vp.str(string("."))'*:_vp.str($)
  _bs.pause(1000)'*:_bs.pause($)
pub _p_backward'*(491,55):pub _p_$
 _servo.go(0,-speed,0)'*:_servo.go(0,-$,0)
 alert:=true'*:$:=$
 _vp.str(string("BACK"))'*:_vp.str($)
 _vp.linefeed'*:_vp.linefeed
pub _p_stopit'*(491,188):pub _p_$
 _servo.stop'*:_servo.stop
 alert:=true'*:$:=$
 _vp.str(string("STOP"))'*:_vp.str($)
 _vp.linefeed'*:_vp.linefeed
'data
DAT