Option Explicit
' This is an example of using a BasicX controller to communicate
' with and control an ActivMedia robot such as an AmigoBot or a
' Pioneer.  This code illustrates only a few of the available
' commands and functions.

' NOTE: This code uses the ArRobot module. For complete details
' about what commands are available, or how these commands are
' sent, see the arrobot.bas file.

' NOTE: the ArRobotSendCommand(ARCMD_PULSE) command is
' necessary to keep the robot's motors enabled.  The PULSE
' command must be sent every second or two or the robot will
' assume there is a problem with the connection and halt.

Public Sub Main()
' ArRobot demonstration.

	' Initialize ArRobot interface
	Call ArRobotInit(1)

	' Open ArRobot Connection
	Call ArRobotOpenConnection()

	' Enable robot's sonars
	Call ArRobotSendCommandInt(ARCMD_SONAR, 1)

	' Enable robot's motors
	Call ArRobotSendCommandInt(ARCMD_ENABLE, 1)

	' Begin driving forward at 20mm/sec
	Call ArRobotSendCommandInt(ARCMD_VEL, 20)
	Call Delay(1.0)
	Call ArRobotSendCommand(ARCMD_PULSE)
	Call Delay(1.0)
	Call ArRobotSendCommand(ARCMD_PULSE)

	' Stop driving
	Call ArRobotSendCommandInt(ARCMD_VEL, 0)

	' Begin turn at -10deg/sec
	Call ArRobotSendCommandInt(ARCMD_RVEL, -10)
	Call Delay(1.0)
	Call ArRobotSendCommand(ARCMD_PULSE)
	Call Delay(1.0)
	Call ArRobotSendCommand(ARCMD_PULSE)

	' Stop turn
	Call ArRobotSendCommandInt(ARCMD_RVEL, 0)

	' Close robot connection
	Call ArRobotCloseConnection()
End Sub