;Picaxe 08M2 Two transistor robot


#Picaxe08M2 	     ;Picaxe microcontroller 08M2
#No_Data		    ; Do not receive data
#Terminal 4800	'Directive to set the Serial Terminal at 4800 Baud
DisableBOD		'Select uPower Sleep mode,stop brown out.

main:
pulsout 0, 50		;pulse out pin 0 for 50 milliseconds, flash LED on pin 0

freeze:
low 1 			;turn off pin 1
low 4 			;turn off pin 4
pause 2000		; wait for 2000 milliseconds

fwd:
high 1			;turn on pin 1
high 4 			;turn on pin 4
pause 1000  		; wait for 1000 milliseconds
low 1,4 			;turn off pins 1 and 4

left_pivot:
low 1
high 4
pause 600
low 4

right_pivot:
low 4
high 1
pause 600
low 1

right: 			;veer right
for b0 = 1 to 50 	;FOR Loop... loop 50 times
high 1 			;Turn on pin 1
pwm 4, 180, 10 	;PWM pulse width modulation, pin 4, 180 out of maximum 255, for 10 milliseconds
next 			 ;NEXT loop
low 1,4 		     ;turn off pins 1 and 4

left: 			   ;veer left
for b0 = 1 to 50 	;FOR Loop... loop 50 times
high 4 			;Turn on pin 4
pwm 1, 180, 10 	;PWM pulse width modulation, pin 4, 180 out of maximum 255, for 10 milliseconds
next 			  ;NEXT loop					
low 1,4 		     ;turn off pins 1 and 4

freeze:
low 1
low 4
pause 2000

goto main 		;go back to label main