'****************************************************************
'*  Name    : UNTITLED.BAS                                      *
'*  Author  : [select VIEW...EDITOR OPTIONS]                    *
'*  Notice  : Copyright (c) 2006 [select VIEW...EDITOR OPTIONS] *
'*          : All Rights Reserved                               *
'*  Date    : 3/28/2006                                         *
'*  Version : 1.0                                               *
'*  Notes   :                                                   *
'*          :                                                   *
'****************************************************************
DEFINE osc 4

output PORTC.0
output PORTC.1
output PORTC.2
output PORTC.3
output PORTC.4
output PORTD.3
output PORTD.1


'define DataPin, ClockPin, Load Pin
D0PIN1 var PORTC.0
D0PIN2 var PORTC.1
D0PIN3 var PORTC.2
D0PIN4 var PORTC.3
D0PIN5 var PORTC.4
CPIN var PORTD.3
IOPIN var PORTD.1

position var byte [3]
nextPosition var Byte [3]
target var byte [3]
newTarget var byte
XYorZ var Byte
direction var bit
changeDirection var bit

randNum var word

newTarget = 1
position[0] = 0
position[1] = 0
position[2] = 0

'variables to put the current row, current column
tempRow var byte
tempCol var byte

'variables for all on/ all of on a certain row
ALL_ON var byte
ALL_OFF var byte

i var byte
j var byte
' array to hold the columns, rows, threshold values, serial input
arrayColP VAR BYTE      ' All OFF
arrayColA VAR BYTE
arrayColB VAR BYTE
arrayColC VAR BYTE
arrayColD VAR BYTE
arrayRow var byte[8]
arrayCol var byte[8]

high portb.7
pause 1000
low portb.7
pause 1000
high portb.7
pause 1000
low portb.7
pause 1000
'============ Initialization of program happens here ============'
        ALL_ON = $FF
        ALL_OFF = $00
        
       ' pauseDuration = 10
        
        arrayCol[0] = %10000000      ' All OFF
        arrayCol[1] = %01000000
        arrayCol[2] = %00100000
        arrayCol[3] = %00010000
        arrayCol[4] = %00001000
        
        arrayRow [0] = %00000001
        arrayRow [1] = %00000010
        arrayRow [2] = %00000011
        arrayRow [3] = %00000100
        arrayRow [4] = %00000101
        

    'XXXXAAAA 00000000
        
        high IOPIN              'set chip select line high
        PAUSE 10
        
        'first worry about decode mode. on power up device does not decode
        'so we do not need to do anything
      serout2 portc.6, 16468, ["scanlimit", 13, 10] 
      pause 5000 
        ' set the scan limit to xxxx1011xxxxxxxx (display Digit0,1,2,3,4,5,6,7 xxxxx111)
        low IOPIN
        'SHIFTOUT D0PIN1, CPIN, 1, [%0000101100000000\16]
        'SHIFTOUT D0PIN2, CPIN, 1, [%0000101100000000\16]
        'SHIFTOUT D0PIN3, CPIN, 1, [%0000101100000000\16]
        SHIFTOUT D0PIN4, CPIN, 1, [%0000101100000100\16]
        'SHIFTOUT D0PIN5, CPIN, 1, [%0000101100000000\16]
        high IOPIN
        PAUSE 2000
        
       serout2 portc.6, 16468, ["intensity", 13, 10]
        'set the intensity register, initially lights are at full intensity.
        low IOPIN
        'SHIFTOUT D0PIN1, CPIN, 1, [%0000101000001111\16]
        'SHIFTOUT D0PIN2, CPIN, 1, [%0000101000001111\16]
        'SHIFTOUT D0PIN3, CPIN, 1, [%0000101000001111\16]
        SHIFTOUT D0PIN4, CPIN, 1, [%0000101000001111\16]
        'SHIFTOUT D0PIN5, CPIN, 1, [%0000101000001111\16]
        high IOPIN
        PAUSE 2000
        
        serout2 portc.6, 16468, ["shutdown", 13, 10]
        'disable shutdown mode xxxx1100xxxxxxx1 (shutdown mode xxxx1100xxxxxxx0)
        low IOPIN
        'SHIFTOUT D0PIN1, CPIN, 1, [%0000110000000001\16]
        'SHIFTOUT D0PIN2, CPIN, 1, [%0000110000000001\16]
        'SHIFTOUT D0PIN3, CPIN, 1, [%0000110000000001\16]
        SHIFTOUT D0PIN4, CPIN, 1, [%0000110000000001\16]
        'SHIFTOUT D0PIN5, CPIN, 1, [%0000110000000001\16]
        high IOPIN
        PAUSE 2000
        
        serout2 portc.6, 16468, ["display", 13, 10]
        'disable display mode xxxx1111xxxxxxx0 (display mode xxxx1100xxxxxxx1)
        low IOPIN
        'SHIFTOUT D0PIN1, CPIN, 1, [%0000111100000000\16]
        'SHIFTOUT D0PIN2, CPIN, 1, [%0000111100000000\16]
        'SHIFTOUT D0PIN3, CPIN, 1, [%0000111100000000\16]
        SHIFTOUT D0PIN4, CPIN, 1, [%0000111100000000\16]
        'SHIFTOUT D0PIN5, CPIN, 1, [%0000111100000000\16]
        high IOPIN
        PAUSE 2000
        
        serout2 portc.6, 16468, ["alloff", 13, 10]
        'turn them all off, so that we start off clean
        For i = 0 To 4
        low IOPIN
        SHIFTOUT D0PIN1, CPIN, 1, [arrayRow[i], ALL_OFF]
        high IOpin
        Pause 20
        Low IOpin
        SHIFTOUT D0PIN2, CPIN, 1, [arrayRow[i], ALL_OFF]
        high IOpin
        Pause 20
        Low IOpin
        SHIFTOUT D0PIN3, CPIN, 1, [arrayRow[i], ALL_OFF]
        high IOpin
        Pause 20
        Low IOpin
        SHIFTOUT D0PIN4, CPIN, 1, [arrayRow[i], ALL_OFF]
        high IOpin
        Pause 20
        Low IOpin
        SHIFTOUT D0PIN5, CPIN, 1, [arrayRow[i], ALL_OFF]
        high IOPIN
        Next i
        PAUSE 10


high portb.7
pause 1000
low portb.7
pause 1000
high portb.7
pause 1000
low portb.7
pause 1000

main:
      
      serout2 portc.6, 16468, ["in main"] 
      
    'this sends us to a subroutine to generate a new target where the fly aspires to go.  
    'this happens at startup and whenever the fly reaches its target
      if newTarget == 1 then
      goto targetgen
      ENDIF
      
     'this random number decides whether the fly will move in x, y or z axis    
      random randNum
      if randNum > 21845 then
         XYorZ = 1
      if randNum > 43690 then  
         XYorZ = 2
      endif
      ELSE 
         XYorZ = 0
      endif
      
      'this random number determines whether the fly will be successful in trying to move towards the target
      'the fly has a 67% chance of success right now   
      random randNum
      if randNum > 43690 then
         changeDirection = 1 
      else
         changeDirection = 0
      endif
      
      'This determines the direction the fly needs to move in order to reach its target
       
      if position[XYorZ] >= Target[XYorZ] then
         direction = 0 
      else
         direction = 1
      endif 
     
     	'if change direction is true (which of course gets decided randomly above)
        'then reverse the direction in which it was headed
     	' I can see that this annoys you, Shagun.  The reason for all of this is that the fly's direction is not in                   	'fact completely random.  it behaves based upon weighted chances.  The reason this looks redundant is that 	'I am attempting to make the fly seem more like an actual living creature instead of a randomly moving LED.     
       
     
      if changeDirection == 1 then
         direction = ! direction
      endif
      
      'this defines the position of the fly in the next iteration depending on where it is currently 
      'the reason it is calculated this way is to keep it from moving more than one space at a time.
     
      if direction == 0 then
         nextPosition[XYorZ] = position[xyorz] - 1
      else
         nextposition[xyorz] = position[xyorz] + 1
      endif
      
      'this keeps the fly from escaping the box
      'a line or lines of code could also be added here to trigger the solenoid
      
      if nextPosition[XYorZ] < 0 then
         nextposition[xyorz] = 0
      endif
      
      if nextposition[xyorz] > 4 then
         nextposition[xyorz] = 4 
      endif
    
    
     ' load the newly calculated position into the memory before sending commands to the LEDs
      for i = 0 to 2
         position[i] = nextposition[i]
      next i
      
      'if the positions are equal to the suggested targets then generate a random target
      if position[0] == target[0] and position[1] == target[1] and position[2] == target[2] then
         newTarget = 1  
      endif
     
      'spit out the positions

serout2 portc.6, 16468, ["position ", DEC position[0], DEC position[1], DEC position[2], 13, 10 ]

' puts all the LED's off

for i = 0 to 4
low IOpin
shiftout D0PIN1, CPIN, 1, [arrayRow[i], ALL_OFF]
low IOpin
high IOPIN
shiftout D0PIN2, CPIN, 1, [arrayRow[i], ALL_OFF]
low IOpin
high IOPIN
shiftout D0PIN3, CPIN, 1, [arrayRow[i], ALL_OFF]
low IOpin
high IOPIN
shiftout D0PIN4, CPIN, 1, [arrayRow[i], ALL_OFF]
low IOpin
high IOPIN
shiftout D0PIN5, CPIN, 1, [arrayRow[i], ALL_OFF] 
high IOPIN

next i

serout2 portc.6, 16468, ["pause", 13, 10]

'this next line of code is for testing purposes on one board.  It should be removed as soon as multiple 
'boards are hooked up
Position[2] = 3

low IOpin

'this sends the command to turn on one LED to whichever board the LED belongs to

SElect CASE position[2]
       case 0 
          shiftout D0PIN1, CPIN, 1, [arrayRow[position[0]], arrayCol[position[1]]]
       case 1 
          shiftout D0PIN2, CPIN, 1, [arrayRow[position[0]], arrayCol[position[1]]]
       case 2 
          shiftout D0PIN3, CPIN, 1, [arrayRow[position[0]], arrayCol[position[1]]]
       case 3 
          shiftout D0PIN4, CPIN, 1, [arrayRow[position[0]], arrayCol[position[1]]]
       case 4 
          shiftout D0PIN5, CPIN, 1, [arrayRow[position[0]], arrayCol[position[1]]]
       end select  
       
high iopin        
          
pause 50                                        
          
GoTo main

targetgen:
for i = 0 to 2
random randNum
     target[i] = randNum/13107
     next i
  newTarget = 0
 goto main