; A simple program to change motor directions depending on presses of the touch sensor.

#define   SRC_VAR      0
#define   SRC_CON      2
#define   SRC_SEN     13
#define   DIR_FWD      2
#define   DIR_REV       0
#define   MOT_FLOAT 0
#define   MOT_OFF      1
#define   MOT_ON       2
#define   GT                 0
#define   LT                  1
#define   EQ                 2
#define   NE                 3

   task    0                ; main task
   sent    0,1             ; sensor 0 is a switch
   senm  0,1,0          ; mode is boolean

; disp the value of the sensor on the LCD
   disp    0, SRC_VAR, 30

; Start motor forward at power level 3 and start the motor
   dir       DIR_FWD, 1
   pwr     1, SRC_CON, 3
   out      MOT_ON, 1

; loop that checks the touch sensor and changes the motor state
loopy:
   wait     SRC_CON, 100          ; kill some time 

; if sensor 1's value equals 1, jump to beep else drop through
   chk      SRC_CON, 1, EQ, SRC_SEN, 0, beep  
   plays    3               ; simple beep
   out       MOT_FLOAT, 1
   wait      SRC_CON, 50
   dir         DIR_FWD, 1
   out        MOT_ON, 1
    jmp      loopy

beep:
   plays   1                ; play a scale

; Float the motor, wait and then reverse the direction
   out      MOT_FLOAT, 1
   wait     SRC_CON, 50
   dir        DIR_REV, 1
   out       MOT_ON, 1
   jmp      loopy

   endt