;-- roboCOMM.txt --
; works with a stepper motor and relay coil connected to portb 

global [position destonation place command speed]

to powerup
 write portb-ddr 0
 write portb 0
 setposition 39
 setdestonation 39
 write portb 0
 setspeed 12
 a 20
end

;-- Subroutines ----------------------------------------------------
to step
 if not (position and 3) xor 0 [write portb 32]
 if not (position and 3) xor 1 [write portb 16]
 if not (position and 3) xor 2 [write portb 64]
 if not (position and 3) xor 3 [write portb 128]
 mwait speed
 write portb 0
end


to move-to :place          ;step the motor from position to destonation
 setdestonation :place
 loop [
 if not position - destonation [ print position stop ]
   ifelse position < destonation 
     [ setposition position + 1 step] 
     [ setposition position - 1 step]]
end


to beats :n               ;beat on something n times
repeat :n [ write portb 4
mwait 20
write portb 0
mwait 30 ]
end

;--------------- notes ---------------------
to a :len
move-to 39
beats :len
end

to b :len
move-to 33
beats :len
end

to c :len
move-to 27
beats :len
end

to d :len
move-to 22
beats :len
end

to e :len
move-to 17
beats :len
end

to f :len
move-to 11
beats :len
end

to g :len
move-to 7
beats :len
end

to h :len
move-to 1
beats :len
end

to w :len         ;null note
repeat :len [ mwait 50 ]
end

;----------- Main ----------------------------------------------------
to startup
song
end

to song
a 20 h 20 g 15 e 5 f 5 g 15 h 15
a 20 f 20 e 40
a 20 d 20 c 15 a 5 b 5 c 15 d 15
b 20 a 5 w 1 a 5 b 15 c 20 a 20
e 10 c 5 e 5 c 5 e 5 c 5 e 5 c 5 
e 5 d 5 e 5 d 5 e 5 d 5 e 5 d 5 
e 5 f 20 w 5 f 25 w 25
e 10 c 5 e 5 c 5 e 5 c 5 e 5 c 5 
e 5 f 5 e 5 f 5 e 5 f 5 e 5 f 5 
f 5 g 20 w 5 g 25 h 25 f 25 e 25
a 0
end

to fin
f 5 w 5 g 5 w 5 h 5 w 10
e 10 w 5 d 5 w 5 c 5 w 5 b 5 w 10 a 20
end