' Sample Code for Six legged walking robot
'

Dim BumpL as Bit 0 of RC        'Sensor 1
Dim BumpR as Bit 1 of RC        'Sensor 2
Dim I as Byte   'Declare Variable

Const StepDelay = 300
Const LeftFwd = 70
Const LeftBck = 180
Const RightFwd = 180
Const RightBck = 70
Const ShiftLeft = 95
Const ShiftRight = 145

bIRenable = 1   'Enable IR receiver

Main:
  'Call WFwd
  'delay 500
  if bIRreceive then       'IR received?
     If IRreg = ASC("A") then Call WFwd  'Ch Up
     If IRreg = ASC("B") then Call WBck  'Ch Dwn
     If IRreg = ASC("C") then Call WLeft   'Vol Up
     If IRreg = ASC("D") then Call WRight 'Vol Dwn
     
     If IRreg = ASC("F") then Call Auto     'Power
  
     bIRreceive = 0 'Clear Flag
  End if
Goto Main

Sub WFwd
  Servo3 = ShiftLeft      'Step1
  Delay StepDelay
  Servo1 = LeftFwd        'Step2
  Servo2 = RightBck
  Delay StepDelay
  Servo3 = ShiftRight     'Step3
  Delay StepDelay
  Servo1 = LeftBck        'Step4
  Servo2 = RightFwd
  Delay StepDelay
End Sub

Sub WBck
   Servo3 = ShiftLeft     'Step1
   Delay StepDelay
   Servo1 = LeftBck      'Step4
   Servo2 = RightFwd
   Delay StepDelay       'Step3
   Servo3 = ShiftRight
   Delay StepDelay
   Servo1 = LeftFwd      'Step2
   Servo2 = RightBck
   Delay StepDelay
 End Sub

 Sub WLeft
   Servo3 = ShiftLeft     'Step1
   Delay StepDelay
   Servo1 = LeftBck       'Step2
   Servo2 = RightBck
   Delay StepDelay
   Servo3 = ShiftRight    'Step3
   Delay StepDelay
   Servo1 = LeftFwd       'Step4
   Servo2 = RightFwd
   Delay StepDelay
End Sub

Sub WRight
   Servo3 = ShiftLeft    'Step1
   Delay StepDelay
   Servo1 = LeftFwd      'Step4
   Servo2 = RightFwd
   Delay StepDelay
   Servo3 = ShiftRight   'Step3
   Delay StepDelay
   Servo1 = LeftBck      'Step2
   Servo2 = RightBck
   Delay StepDelay
End Sub

Sub Auto

End Sub