ServoControlwithDebugYourTurn.bs2

' {$STAMP BS2}
' {$PBASIC 2.5}
' ServoControlWithDebug.bs2 (a.k.a. "Finally, serial input!")

duration VAR Word
angle VAR Word
i VAR Word 'For those who don't know, in C and C-like languages, it is customary to designate i
           'as a "counter" variable. If nested loops are needed (when initializing 2D arrays, for example),
           'other counters can be designated as j, k, et cetera.
DEBUG "Please connect a servo to pin 14.", CR
DO
  top:
  DEBUG "Runtime (in seconds): "
  DEBUGIN DEC duration
  DEBUG "Angle (in degrees): "
  DEBUGIN DEC angle
    IF angle<0 OR angle>180 'Check #1: Is the angle in a valid range?
    DEBUG "Error: invalid angle! Please use angles between 0 and 180 degrees.", CR
    GOTO top
  ENDIF
  angle=(angle */ 1422)+250 'Convert degrees to PULSOUT parameter
                            'PULSOUT parameter=(50/9)*angle+250 (where angle is in degrees)
  IF angle < 350 'Check #2: Is the angle safe for the servo?
                 'Note here that we blindly push back to the nearest valid value, as the first check ensures that
                 'the user entered a theoretically safe value for the servo. As a servo might not be actually able to
                 'reach 0-180 degrees, we push it back to a safe value.
  	angle=350
  ENDIF
  IF angle > 1150
  	angle=1150
  ENDIF

  DEBUG "Running..."
  FOR i=1 TO (duration*50)
    PULSOUT 14, angle
    PAUSE 20
  NEXT
  DEBUG "Done!", CR
LOOP