' =========================================================================
'
'   File....... Random_Servos.bs1
'   Purpose.... Randomly turn 3 servos
'   Author..... Robert Hole (based on the work of Vern Graner)
'   Web.....    www.halloween.cindybob.com
'   Started.... 20 Mar 2006
'   Updated.... 22 Mar 2006
'
'   {$STAMP BS1}
'   {$PBASIC 1.0}
'
' =========================================================================


' -----[ Program Description ]---------------------------------------------
' Pan 3 servos left and right a random amount. How often a particular servo
' will be in motion is a function of the chance number. A higher number means
' less chance that a servo will be in motion.

' -----[ Revision History ]------------------------------------------------


' -----[ I/O Definitions ]-------------------------------------------------

SYMBOL  Servo1          = 0                     ' Servo1 Pin #
SYMBOL  Servo2          = 1                     ' Servo2 Pin #
SYMBOL  Servo3          = 2                     ' Servo3 Pin #


' -----[ Constants ]-------------------------------------------------------

SYMBOL  Chance          = 199                   ' Set the chance of any servo being in motion.
                                                ' The higher the number the last chance.

' -----[ Variables ]-------------------------------------------------------

SYMBOL  lottery         = W0                    ' random number
SYMBOL  rUpdate         = W5                    ' random number
SYMBOL  update          = B8                    ' update or not varialbe
SYMBOL  pos1            = B2                    ' servo1 postion
SYMBOL  dest1           = B3                    ' servo1 destination
SYMBOL  pos2            = B4                    ' servo2 postion
SYMBOL  dest2           = B5                    ' servo2 destination
SYMBOL  pos3            = B6                    ' servo3 postion
SYMBOL  dest3           = B7                    ' servo3 destination


' -----[ Initialization ]--------------------------------------------------

Reset:
  DIRS = %00000111                              ' Change if the servos are not on pins 0,1,2
  lottery = 1031                                ' Seed the random number
  rUpdate = 2302                                ' Seed the random number
  dest1=120                                     ' Center the servos. These
  pos1=120                                      '  numbers may need to changed
  dest2=150                                     '  depending on the servos used
  pos2=150                                      '  and any deviation caused when
  dest3=160                                     '  mounting the servos.
  pos3=160

'Center the servos
  FOR update=100 TO dest1
    PULSOUT Servo1, update
    PAUSE 20
  NEXT
  FOR update=100 TO dest2
    PULSOUT Servo2, update
    PAUSE 20
  NEXT
  FOR update=100 TO dest3
    PULSOUT Servo3, update
    PAUSE 20
  NEXT

' -----[ Program Code ]----------------------------------------------------

Main:
  PAUSE 10                                      ' Speed, more pause = slower

' =========
'  Servo 1
' =========

Check_Dest1:
  RANDOM lottery
  IF pos1 <> dest1 THEN Update_Pos1             ' If not at dest then update the servo position?
  RANDOM rUpdate                                ' At dest so randomly decide if the servo should
  update=rUpdate // chance                      '  go again.
  IF update<>1 THEN Check_Dest2:                ' No match so maintain current position
  dest1 = lottery // 250                        ' Match so get a new dest.
  dest1 = dest1 MIN 70                          ' Confine to minimum and maximum limits. These
  dest1 = dest1 MAX 180                         '  limits may need to be changed to suit your
                                                '  situation and taste. Experiment with different numbers.

Update_Pos1:
  IF pos1 < dest1 THEN Go_CW1                    ' Decide if the servo should move CW or CCW
  pos1 = pos1 - 2                                ' Move servo CCW

Go_CW1:
  pos1 = pos1 + 1                                ' Move servo CW

  PULSOUT Servo1, pos1                           ' Move the servo

' =========
'  Servo 2
' =========

Check_Dest2:
  RANDOM lottery
  IF pos2 <> dest2 THEN Update_Pos2
  RANDOM rUpdate
  update=rUpdate // chance
  IF update<>2 THEN Check_Dest3:
  dest2 = lottery // 250
  dest2 = dest2 MIN 90
  dest2 = dest2 MAX 200


Update_Pos2:
  IF pos2 < dest2 THEN Go_CW2
  pos2 = pos2 - 2

Go_CW2:
  pos2 = pos2 + 1

  PULSOUT Servo2, pos2

' =========
'  Servo 3
' =========

Check_Dest3:
  RANDOM lottery
  IF pos3 <> dest3 THEN Update_Pos3
  RANDOM rUpdate
  update=rUpdate // chance
  IF update<>3 THEN Main:
  dest3 = lottery // 250
  dest3 = dest3 MIN 90
  dest3 = dest3 MAX 200


Update_Pos3:
  IF pos3 < dest3 THEN Go_CW3
  pos3 = pos3 - 2

Go_CW3:
  pos3 = pos3 + 1

  PULSOUT Servo3, pos3


  GOTO Main                                      ' Start again


  END


' -----[ Subroutines ]-----------------------------------------------------