Dim D As New oDio4         'Initializes a new object called D as a nibble I/O
Dim E As New oDio1         'Initializes a new object called E as a single bit I/O 
Dim RS As New oDio1        'Initializes a new object called RS as a single bit I/O 
Dim LCD as New oDataStrobe 'Initializes a new object called LCD as a Data Strobe

Dim Srf08 As New oI2C      'Create the SRF08 object
Dim Ver as new oByte
Dim Light as new oByte
Dim Range1 as new oWord
Dim Range2 as new oWord
Dim S As New oBuffer(5) 

Dim Sw1 As New oDio1
Dim Sw2 As New oDio1


Sub main()

  IOSetup                         ' Sets up the I/O lines 
  LCDSetup                        ' Initialize the LCD Display 
  SRF08Setup                      ' Initialize the SRF08's
  ClearLCD
  LocateRow1
  LCD.String = "SRF08/ooPIC Example"

  Do
    ReadSonar(112)                ' 112 is decimal of 0xE0 shifted right by 1
    LocateRow2
    LCD.String = Str$(Light) + "  "
    LCD.String = Str$(Range1) + "  "
    LCD.String = Str$(Range2)

    ReadSonar(113)                ' 113 is decimal of 0xE2 shifted right by 1
    LocateRow3
    LCD.String = Str$(Light) + "  "
    LCD.String = Str$(Range1) + "  "
    LCD.String = Str$(Range2)

  Loop

End Sub

 
Sub ReadSonar(Addr As oByte)
    SRF08.Node = Addr             ' I2C Address of SRF08 sonar
    SRF08.Location = 0            ' Command Register
    SRF08.Width = cv8bit          ' 1 byte wide transfer
    SRF08 = 81                    ' Ranging Command - Result in cm

' Use these three lines
    Do                            ' Wait for ranging to complete
      Ver = SRF08                 ' This will wait forever if your sonar
    Loop While Ver=255            ' becomes disconnected, so you may prefer

' or this one
'   OOPic.Delay = 7               ' to simply wait 70mS instead

    SRF08.Location = 1            ' Light Sensor Register
    Light = SRF08                 ' Get Light Sensor value
    SRF08.Width = cv16bit         ' 2 byte wide transfer
    SRF08.Location = 2            ' 1st Range Register
    Range1 = SRF08                ' Get Range to 1st object
    SRF08.Location = 4            ' 2nd Range Register
    Range2 = SRF08                ' Get Range to 2nd object
End Sub 'ReadSonar



Sub LocateRow1() 
  'Routine to locate the cursor at row 1, column 1
  RS = 0           'Sets Register Select to Control Register
  LCD.Value = 128: 'Sets the address of the cursor
  RS = 1           'Sets Register Select to Data Register 
End Sub

Sub LocateRow2() 
  'Routine to locate the cursor at row 2, column 1
  RS = 0           'Sets Register Select to Control Register
  LCD.Value = 192: 'Sets the address of the cursor
  RS = 1           'Sets Register Select to Data Register 
End Sub

Sub LocateRow3() 
  'Routine to locate the cursor at row 2, column 1
  RS = 0           'Sets Register Select to Control Register
  LCD.Value = 148: 'Sets the address of the cursor
  RS = 1           'Sets Register Select to Data Register 
End Sub

Sub LocateRow4() 
  'Routine to locate the cursor at row 2, column 1
  RS = 0           'Sets Register Select to Control Register
  LCD.Value = 212: 'Sets the address of the cursor
  RS = 1           'Sets Register Select to Data Register 
End Sub

Sub ClearLCD() 
  RS = 0         'Sets Register Select to Control Register
  LCD.Value = 1: 'Sets the address of the cursor
  RS = 1         'Sets Register Select to Data Register 
End Sub


Sub IOSetup() 
  'This routine sets the IO lines that are connected to the LCD display
  'and configures the Virtual Circuit to do the Data Strobe.
  D.Iogroup = 3             'I/O group used for nibble out to LCD 
  D.Nibble = 0              'Lower nibble - I/O 24-27 
  D.Direction = 0           'Direction of data flow in or out 
  E.IOLine = 23             'Which I/O line to use for Display enable and strobe 
  E.Direction = 0           'Direction of data flow in or out 
  E = 0                     'Initialize E to 0 
  RS.IOLine = 22            'Which I/O line to use for Register Select 
  RS.Direction = 0          'Direction of data flow in or out 
  RS = 0                    'Initialize RS to 0
  LCD.Output.Link(D)        'Connect the datastrobe's data to the LCD's data I/O line
  LCD.Strobe.Link(E)        'Connect the datastrobe's datastrobe to the LCD's E I/O line
  LCD.Operate = cvTrue      'Turn the Datastrobe object on.
  Sw1.IOLine = 20
  Sw1.Direction = cvInput
  Sw2.IOLine = 21
  Sw2.Direction = cvInput
End Sub


Sub LCDSetup() 
  'This routine performs LCD reset and initialization and 
  'configures LCD display to operate in 4 bit nibble mode 
  'Note: LCD Module starts out in 8 bit mode'
  'This sequence of codes were found in the Optrix handbook.
  RS = 0 'Sets Register Select to Control Register
  LCD.Mode = cv8Bit: 'Select 8-bit mode
  LCD.Value = 3:     ' Power on sequence
  LCD.Value = 3:     ' Power on sequence
  LCD.Value = 3:     ' Power on sequence
  LCD.Value = 2:     ' Sets data length to 4 bits 
  LCD.Mode = cv4Bit: 'Select 4-bit mode
  LCD.Value = 40:    ' Set # of display lines & font 
  LCD.Value = 8:     ' Set display off 
  LCD.Value = 12:    ' sets display on 
  LCD.Value = 6:     ' Set entry mode 
  RS = 1 'Sets Register Select to Data Register 
End Sub


Sub Srf08SetUp()
  SRF08.Node = 112              ' Decimal of Hex address 0xE0 shifted right by 1
  SRF08.Mode = cv10bit          ' I2C mode is 10-Bit Addressing.
  SRF08.NoInc = 1               ' Don't increment
  SRF08.Width = cv8bit          ' 1 byte wide transfer

  SRF08.Location = 2            ' Range Register
  SRF08 = 140                   ' Limit 1st sonar Range to 6m, 140 x 43mm = 6m
  SRF08.Node = 113              ' Decimal of Hex address 0xE2 shifted right by 1
  SRF08 = 140                   ' Limit 2nd sonar Range to 6m, 140 x 43mm = 6m

End Sub