CONST DEVICE = R5
'Programme de test du sonar MSU04* avec un PICBASIC 2000*.
'ecran LCD 2x16 sur PICBUS
'sonar IN sur port P0 sur PICBASIC 2000*
'sonar OUT sur port P1 sur PICBASIC 2000*
'buzzer sur port P2 sur PICBASIC 2000*
'Copyright http://arn.gui.free.fr/picbasic
'* produit disponible sur www.lextronic.fr

SET PICBUS HIGH
SET RS232 9600			
LCDINIT
CSROFF

DIM DISTANCE AS INTEGER					' distance sonar en cm
DIM D AS BYTE						' Variable a tout faire
DIM A AS INTEGER

BUSOUT &HA5,1,6,6,12,23,4,10,17,0			' petit bonhomme
BUSOUT &HA5,3,8,12,15,31,15,12,8,0			' Petite Haut Parleur
BUSOUT &HA5,5,31,16,16,16,16,16,16,31			' dedut du bargraph
BUSOUT &HA5,6,31,0,0,0,0,0,0,31				' partie central bargraph
BUSOUT &HA5,7,31,1,1,1,1,1,1,31				' fin du bargraph
CLS
DISTANCE = 0

1701							'mesure de distance
OUT 0,0
   PULSE 0,10
   DISTANCE=CAPTURE(1,1)
   DISTANCE=DISTANCE/8
	A=DISTANCE/3

D=7							'animation
LOCATE 9,0
BUSOUT &HA2,&H03,&H00				'haut parleur
SOUND 2,14,8						'ping

1710
LOCATE D,0
PRINT "( "
DELAY 70
D=D-1
IF D>0 THEN GOTO 1710

IF DISTANCE > 300 then goto 2000

1800							'si distance <
LOCATE 0,0
BUSOUT &HA2,&H01,&H00				'affichage petit sous marin
SOUND 2,20,5

LOCATE 11,0
PRINT DISTANCE,"cm  "
LOCATE 0,1
PRINT "3"
LOCATE 1,1

1750
IF DISTANCE >298 THEN GOSUB 5000 ELSE GOSUB 10000
IF DISTANCE >275 AND DISTANCE < 300 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >252 AND DISTANCE < 276 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >229 AND DISTANCE < 253 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >206 AND DISTANCE < 230 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >183 AND DISTANCE < 207 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >160 AND DISTANCE < 184 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >137 AND DISTANCE < 161 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >114 AND DISTANCE < 138 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >91 AND DISTANCE < 115 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >68 AND DISTANCE < 92 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >45 AND DISTANCE < 69 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >22 AND DISTANCE < 46 THEN GOSUB 5000 ELSE GOSUB 10001
IF DISTANCE >0 AND DISTANCE < 23 THEN GOSUB 5000 ELSE GOSUB 10002
PRINT "0"



FOR D=0 TO 8
LOCATE D,0
PRINT " )"
LOCATE 0,0
BUSOUT &HA2,&H01,&H00
DELAY A
NEXT D
LOCATE 0,0
PRINT " "			
GOTO 1701


2000							' si distance > 3"
LOCATE 0,0
PRINT "  "
LOCATE 11,0
PRINT  "     "
LOCATE 0,1
PRINT "pas d'obstacle !"
DELAY 600
	
GOTO 1701



'		=========== SOUS PROGRAMMES SECONDIARES===========


5000 BUSOUT &HA2,&HFF,&H00					' Affiche un carré Noir
RETURN
		
10000 BUSOUT &HA2,&H05,&H00					' Affiche debut du bargraph
RETURN

10001 BUSOUT &HA2,&H06,&H00					' Milieu du bargraph vide
RETURN

10002 BUSOUT &HA2,&H07,&H00					' Fin  du Bargraph
RETURN