' PROGRAM NAME=Test-arm.BAS, Test-Arm.exe (STAND ALONE PROGRAM)
' Written in MS-DOS qbasic v1.1 for testing Robot Arm
' Chuck Schoeffler, Univ. of Idaho 5-27-98, Moscow, IDaho
' Runs fine compiled in Qbasic 4.5.
CLS
5 PRINT "Armdroid Test"
10 L = 888
20 PRINT
28 CLS          'clears the screen
30 PRINT "half step values"
40 T = 8: C = 2: S = 10: M = 1: I = 1: A$ = "F"  'DEFAULT VALUES
50 FOR I = 1 TO T  'Loop for reading data values (stepper motor windings)
60 READ W(I)
61 PRINT W(I)
62 NEXT I
63 PRINT
64 PRINT "Motor 6 = Base"
65 PRINT "Motor 5 = Shoulder"
66 PRINT "Motor 4 = Forearm"
67 PRINT "Motor 3 = Right Wrist"
68 PRINT "Motor 2 = Left Wrist"
69 PRINT "Motor 1 = Gripper"
70 PRINT
75 INPUT "MOTOR NUMBER (1-6) 6=BASE, 5=SHOULDER ETC. "; M   'Default will be at least 1
80 IF M < 1 OR M > 6 THEN 70
85 PRINT
86 PRINT "Use F&B for shoulder, use U&D for forarm"
87 PRINT

90 INPUT "LEFT/RIGHT, UP/DOWN (Enter a capital letter F,B,L,R,U,D,O,C ETC.) "; A$    'Default will be t least "F" forward

96 PRINT

100 IF A$ = "B" THEN D = 0: GOTO 130
110 IF A$ = "F" THEN D = 1: GOTO 130
112 IF A$ = "L" THEN D = 1: GOTO 130
114 IF A$ = "R" THEN D = 0: GOTO 130
115 IF A$ = "D" THEN D = 0: GOTO 130
116 IF A$ = "U" THEN D = 1: GOTO 130
117 IF A$ = "O" THEN D = 0: GOTO 130
118 IF A$ = "C" THEN D = 1: GOTO 130

119 PRINT
120 GOTO 90
130 INPUT "STEPS "; S     'default value will be at least 10
140 IF S < 1 THEN 130
150 O = M + M + 1         'math to get output bits in correct order
160 FOR Y = 1 TO S * C    'begin step loop here, multiply by 2
170 F = W(I) + O          'get step data values
180 OUT L, F              'send data to LPT1 port (888 decimal)
'185 FOR DELAY = 1 TO 500: NEXT DELAY  'Delay so I can watch the lights
190 OUT L, F - 1          'used to toggle the 1 shot in the robot on line 1
PRINT "F VALUE = "; F     'information for me to see the step value
200 IF D = 0 THEN 230
210 I = I + 1: IF I > T THEN I = 1
220 GOTO 240
230 I = I - 1: IF I < 1 THEN I = T
'FOR DELAY = 1 TO 1000: NEXT DELAY
240 NEXT Y
OUT L, 0                 'used to turn all output lines off to save power
242 PRINT
243 INPUT "Do you want to make another robot move? "; M$
245 IF M$ = "y" THEN 250 ELSE 255
250 GOTO 63              'go back and start over again
255 IF M$ = "Y" THEN 250 ELSE 300
260 DATA 192,128,144,16,48,32,96,64
'   END OF DEMO PROGRAM AS IN ARMDROID BOOK
'   Had to replace the POKE statements with OUT
'   Added some delays to see what is happening
'   L=parallel port number LPT1=888 decimal 378h
'   LPT2=632 decimal 278h
300 PRINT
305 CLS
306 PRINT
310 PRINT "OK... Have a Good Day..Bye Bye"
320 END