' BFF_RBT_SLAVE.bas
' Copyright 2008 BFF Design Ltd
'
' Ian Hopper (BFF Design Ltd) Sept 2008
' http://buggies.builtforfun.co.uk - email Ian@builtforfun.co.uk
'
' For DIY Wi-Fi Remote Control Robot
'
' ---------------------------
'
' For 28X1 chip using its internal resonator..........
'
' Declarations
'
'
	symbol 	tilt = b6
	symbol	pan = b7
'
'
'Set the chip frequency
	
	setfreq m4
	
'Set start values for servo positions

	tilt = 140
	pan = 140
	
'Move the servos to mid

	servo 6, tilt 
	servo 4, pan
	

MainLoop:

	pause 50
	
'Set the servo movement

	if pin0 = 1 then
		tilt = tilt + 2 MIN 90 MAX 190
		servopos 6, tilt
	else if pin1 = 1 then
		tilt = tilt - 2 MIN 90 MAX 190
		servopos 6, tilt
	end if
	
	pause 50
	
	if pin2 = 1 then
		pan = pan + 2 MIN 90 MAX 190
		servopos 4, pan
	elseif pin3 = 1 then
		pan = pan - 2 MIN 90 MAX 190
		servopos 4, pan
	end if
	
goto MainLoop