'DURCH SENDERN DES BUCHSTABEN l ( klein L ), r oder # Wird der Schrittmotor in die jeweilige richtung bewegt


'Die Anweisung bestimmt Controllertyp, hier AVR Mega 32
 $regfile = "m644def.dat"

 'Stackanweisungen, die eigentlich nur bei größeren Programmen
 $framesize = 64
 $swstack = 128
 $hwstack = 64

 'Die Frequenz des verwendeten Quarzes
 $crystal = 18432000

 $baud = 57600

 Enable Interrupts

 'Config Timer1 = Timer , Prescale = 1024
 'Enable Timer1


 Config Portc.0 = Output                                    'X DIR
 Config Portc.1 = Output                                    'X CLK
 Config Portc.2 = Output                                    'SLEEP    1 = Sleep 0 = Betrieb
 Config Portc.3 = Output                                    'Y DIR
 Config Portc.4 = Output                                    'Y CLK
 Config Pina.7 = Input

 Portc.0 = 0
 Portc.1 = 0
 Portc.2 = 1
 Portc.3 = 0
 Portc.4 = 0

 Porta.7 = 0

 Config Lcd = 16 * 2
 Config Lcdpin = Pin , Db4 = Portb.0 , Db5 = Portb.1 , Db6 = Portb.2 , Db7 = Portb.3 , E = Portb.5 , Rs = Portb.4
 Config Lcdbus = 4

 'Dim I As Byte
 Dim S As String * 1

 On Urxc Onrxd                                              'Interrupt-Routine setzen
 Enable Urxc
                                                 'Interrupt URXC einschalten                                         'Interrupts global zulassen

 Cls
 Locate 1 , 1
 Lcd "SYSTEM START..."
 Print "SYSTEM STARTS UP ..."

 S = ""

 Wait 3
 Cls
 Lcd "ONLINE..."
 Print "ONLINE..."


 Do

   If Pina.7 = 1 Then

      S = ""

      Portc.0 = 0
      Portc.1 = 0
      Portc.2 = 1
      Portc.3 = 0
      Portc.4 = 0

      Print "NOTAUS"
      Locate 2 , 1
      Lcd "+++++NOTAUS+++++"

   End If

   If S = "l" Then                                          ' kleines L

      Portc.0 = 0
      Portc.2 = 0

      Toggle Portc.1                                        'TOGGLE BEFEHL SCHALTET DEN PORT AUTOMATISCH ZWISCHEN 0 und 1 um

   Elseif S = "r" Then

      Portc.0 = 1
      Portc.2 = 0

      Toggle Portc.1

   Elseif S = "v" Then

      Portc.3 = 0
      Portc.2 = 0

      Toggle Portc.4

   Elseif S = "b" Then

      Portc.3 = 1
      Portc.2 = 0

      Toggle Portc.4

   Elseif S = "#" Then

      Portc.0 = 0
      Portc.1 = 0
      Portc.2 = 1

   End If

      Waitus 500

 Loop



 Onrxd:

   S = Chr(udr)

   If S = "#" Then
      Print "MASCHINE STOP"
      Locate 2 , 1
      Lcd "MASCHINE STOP   "

   Elseif S = "l" Then                                      ' kleines L

      Print "TURN LEFT"
      Locate 2 , 1
      Lcd "TURN LEFT       "

   Elseif S = "r" Then

      Print "TURN RIGHT"
      Locate 2 , 1
      Lcd "TURN RIGHT      "

   Elseif S = "v" Then

      Print "VORWARD"
      Locate 2 , 1
      Lcd "VORWARD         "

   Elseif S = "b" Then

      Print "BACKWARD"
      Locate 2 , 1
      Lcd "BACKWARD        "

   End If


 Return