{{ TestGaitNomad.spin }}

' ==============================================================================
'
'   File...... TestGaitNomad.spin
'   Purpose... Test for the HexCrawler Gait Object
'   Author.... (C) 2006 Steven R. Norris -- All Rights Reserved
'   E-mail.... norris56@comcast.net
'   Started... 11/27/2006
'   Updated... 11/28/2006
'
' ==============================================================================

' ------------------------------------------------------------------------------
' Program Description
' ------------------------------------------------------------------------------
{{


  This is a simple test harness for the Nomad Gait object. See GaitNomad.spin
  for complete documentation on the interface for this exciting object.

}}


' ------------------------------------------------------------------------------
' Revision History
' ------------------------------------------------------------------------------
{{
  0648a - This is the first version
}}


CON
' ------------------------------------------------------------------------------
' Constants
' ------------------------------------------------------------------------------

  _clkmode = xtal1 + pll16x
  _xinfreq = 5_000_000


VAR
' ------------------------------------------------------------------------------
' Variables
' ------------------------------------------------------------------------------

 
OBJ
  Gait : "GaitNomad"              ' This is the Nomad Gait object


PUB Init
' ------------------------------------------------------------------------------
' Initialize
' ------------------------------------------------------------------------------

  ' Start the Gait object in its own Cog
  ' Pass the pin that is connected to the Parallax Servo Controller (PSC)
  Gait.Start(22)
      
  ' Wait a bit
  Pause_ms(1000)

  ' Home the legs
  Gait.Home(1)

  ' Wait a bit before walking
  Pause_ms(3000)

  ' Walk forward one step at a time
  ' Wait for each step to complete before sending another command  
  repeat
    if not Gait.IsWalking
      Gait.SetGait(0,0,1,1)


PRI Pause_ms(msDelay)
  waitcnt(cnt + ((clkfreq / 1000) * msDelay))