Robo Dog.sb

'initilize the 2 ultra sonic sensors in port 1 and 4 in mode 0
Sensor.SetMode(1,0)
Sensor.SetMode(4,0)
'initilize varibles
distance = 800
dir = "left"
speed = 20

'play the recorded into sound file, this canm be removed if you don't have a recorded intro sound file
Speaker.Play(100,"Sounds/Robo Dog/Intro Dog")
Speaker.Wait()

'All sub routines are found at the bottom of the code after the main body

'Main program running in a endless loop
While "true"
  'check distance in both sensors
  eyes()
 'if nothing seen in either sensor then turn and look for something
 If left > distance And right  > distance Then
  look()
 'if something is really close then play happy bark and wag tail
 Elseif left < 300 Or right < 300 Then
  Speaker.Play(100,"Sounds/Animals/Dog bark 2")
  Motor.Start("D", 50)
  'wait till there isn't somthing close in front of eyes then stop wagging tail
  While left < 300 Or right < 300 
    eyes()
    EndWhile
    Motor.Stop("D","false")
 ''if  see something in right but nothing in left then move forward and to the right and set last seen direction to right 
 ElseIf left > distance And right < distance Then
  Motor.Move("B", 70, 30,"false")
  dir = "right"
 'if something seen in left but nothing in right the move forawrd and to the left and set last seen direction to left
 ElseiF left < distance And right > distance Then
  Motor.Move("C",70, 30, "False")
  dir = "left"
 'if somthing seen in both eyes then move stright forward at a speed based upon how far away seen object is
 Elseif left < distance And right < distance And left > 300 And right > 300 Then
    Motor.Move("BC",(left + right)/15,30,"false")
    EndIf 
EndWhile


'subroutine to look for person if nothing ion sight
Sub look
  'if last seen directio was right the turn to right else turn to left
  If dir = "right" Then
   Motor.Start("B", speed)
   Motor.Start("C", -speed)
  Else
   Motor.Start("B", -20)
   Motor.Start("C", 20)
  EndIf
  'while nothing is seen in either left or right senor
  While left > distance Or right > distance
    eyes()
  EndWhile
  Motor.Stop("B", "false")
  Motor.Stop("C", "false")
EndSub

'subroutine to look at distance in both sensors
Sub eyes
  left = Sensor.ReadRawValue(1,0)
  right = Sensor.ReadRawValue(4,0)
EndSub