' * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
' *    Lab 06 Program: Testing The Tactile Navigation Whiskers                *
' *    Written By: NJ Getson                                                  *
' *    Date Created:  12 Jan 2020                                             *
' *    Last Modified: 02 Aug 2023                                             *
' *                                                                           *
' *    This simple program will verify that the tactile navigation whiskers   *
' *    are operating as expected. If an obstacle is detected, the motion of   *
' *    the whisker will result in it touching the pin header.  This breaks    *
' *    the circuit. The state of the circuit is stored automatically in the   *
' *    input registers. In this case, the P5 state is stored in IN5 and the   *
' *    P7 state is stored in IN7.  The state is stored as a binary, where a   *
' *    value = 0 means the circuit is open, and value = 1 means the circuit   *
' *    is closed. Thus, when state = 0 means the whisker has encountered an   *
' *    obstacle.                                                              *
' *                                                                           *
' *.   This program will report the whisker state to the DEBUG terminal.      *
' *    The user manually  presses the whisker into the  pin header to break   *
' *    the circuit. The loop used is infinite, which is not optimal, but is   *
' *    acceptable for a program used only for a proof-of-concept test.        *
' * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

'{$STAMP BS2}
'{$PBASIC 2.5}

' Set up a table to display the whisker states on the screen
DEBUG "WHISKER STATES", CR,
      "Left Right", CR,
      "------ ------"

' Set up a LOOP TO continuously check the state of each whisker
' BIN1 = display as binary (1 or 0)
' IN5  = the input register for P5
' IN7  = the input register for P7
DO
   DEBUG CRSRXY, 0, 3,
   "P5 = ", BIN1 IN5,
   "   P7= ", BIN1 IN7 
   PAUSE 50
LOOP

END