Private Sub Form_Load()
Dim i As Long
Dim command As String
Dim description As String
Dim category As String
Dim Flags As Long
Dim action As String

For i = 1 To DirectSS1.CountEngines
    If DirectSS1.ModeName(i) = "RoboSoft Three" Then GoTo OkayToCont
Next i
OkayToCont:
    DirectSS1.Select i

' Buffer to hold input string
    Dim Instring As String
    ' Use COM1.
    MSComm1.CommPort = 1
    ' 9600 baud, no parity, 8 data, and 1 stop bit.
    MSComm1.Settings = "9600,N,8,1"
    ' Tell the control to read entire buffer when Input is used.
    MSComm1.InputLen = 0
    ' Open the port.
    MSComm1.PortOpen = True
    ' Send the attention command to the modem.
    
Say ("Hello World!")
    
End Sub
----------------------------------------------------------------
Public Sub Say(Arg As String)
Form1.DirectSS1.TextData CHARSET_TEXT, 1, Arg
End Sub
----------------------------------------------------------------
Public Sub Wait(duration)
    StartTime = Timer
    Do While Timer - StartTime > duration
        DoEvents
    Loop
End Sub
----------------------------------------------------------------
Private Function Direction()
Select Case Compass()

Case 13
    Direction = "North"
Case 5
    Direction = "NorthEast"
Case 7
    Direction = "East"
Case 3
    Direction = "SouthEast"
Case 11
    Direction = "South"
Case 10
    Direction = "SouthWest"
Case 14
    Direction = "West"
Case 12
    Direction = "NorthWest"
Case 0
    Direction = " in an unknown direction."

End Select

End Function
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Private Sub LeftMotor(Arg As Integer)
If Arg < 0 Then
    If Arg > -11 Then Arg = -11
    If Arg < -99 Then Arg = -99
    MSComm1.Output = "!MLB" & Abs(Arg)
End If
If Arg > 0 Then
    If Arg < 11 Then Arg = 11
    If Arg > 99 Then Arg = 99
    MSComm1.Output = "!MLF" & Arg
End If
If Arg = 0 Then MSComm1.Output = "!MLF10" 'HC11 stops motors

End Sub
----------------------------------------------------------------
Private Sub RightMotor(Arg As Integer)
If Arg < 0 Then
    If Arg > -11 Then Arg = -11
    If Arg < -99 Then Arg = -99
    MSComm1.Output = "!MRB" & Abs(Arg)
End If

If Arg > 0 Then
    If Arg < 11 Then Arg = 11
    If Arg > 99 Then Arg = 99
    MSComm1.Output = "!MRF" & Arg
End If
If Arg = 0 Then MSComm1.Output = "!MRF10" 'HC11 stops motors

End Sub
----------------------------------------------------------------
Private Function Touch()
MSComm1.Output = "!ST"
  Do
    DoEvents
  Loop Until MSComm1.InBufferCount >= 2
    Touch = Val(MSComm1.Input)
End Function
----------------------------------------------------------------
Private Function Photo()
MSComm1.Output = "!SP"
  Do
    DoEvents
  Loop Until MSComm1.InBufferCount >= 1
    Photo = Val(MSComm1.Input)
End Function
----------------------------------------------------------------
Private Function Compass()
MSComm1.Output = "!SC"
  Do
    DoEvents
  Loop Until MSComm1.InBufferCount >= 1
    Compass = Val(MSComm1.Input)
End Function
----------------------------------------------------------------
Private Function LeftEncoder()
MSComm1.Output = "!S<"
  Do
    DoEvents
  Loop Until MSComm1.InBufferCount >= 1
    ' Read the "OK" response data in the serial port.
    LeftEncoder = Val(MSComm1.Input)
End Function
----------------------------------------------------------------
Private Function RightEncoder()
MSComm1.Output = "!S>"
  Do
    DoEvents
  Loop Until MSComm1.InBufferCount >= 1
    RightEncoder = Val(MSComm1.Input)
End Function
----------------------------------------------------------------
Private Function Sonar(Arg As Integer)
MSComm1.Output = "!S" & Arg
  Do
    DoEvents
  Loop Until MSComm1.InBufferCount >= 1
    Sonar = Val(MSComm1.Input)
End Function
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Private Sub Command10_Click()
Label10.Caption = LeftEncoder()
End Sub
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Private Sub Command11_Click()
Label11.Caption = RightEncoder()
End Sub
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Private Sub Command12_Click()
LeftMotor (50)
RightMotor (-50)
End Sub
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Private Sub Command2_Click()
Label2.Caption = Sonar(1)
End Sub
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Private Sub Command3_Click()
Label3.Caption = Sonar(2)
End Sub
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Private Sub Command4_Click()
Label4.Caption = Sonar(3)
End Sub
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Private Sub Command5_Click()
Label5.Caption = Sonar(4)
End Sub
----------------------------------------------------------------
Private Sub Command6_Click()
Label6.Caption = Sonar(5)
End Sub
----------------------------------------------------------------
Private Sub Command7_Click()
Label7.Caption = Photo()
End Sub
----------------------------------------------------------------
Private Sub Command8_Click()
Label8.Caption = Compass()
End Sub
----------------------------------------------------------------
Private Sub Command9_Click()
Label9.Caption = Touch()
End Sub
----------------------------------------------------------------
Private Sub Explore_Click()
Dim Sonar1Var As Long
Dim Sonar2Var As Long
Dim LeftClicks As Long
Dim RightClicks As Long

Say ("I'm exploring!")

While (1)

Sonar1Var = 0
Sonar2Var = 0

For x = 1 To 10
    Sonar1Var = Sonar1Var + Sonar(1)
    Wait (100)
    Sonar2Var = Sonar2Var + Sonar(2)
    Wait (100)
Next x
Sonar1Var = Sonar1Var / 10 'Get average
Sonar2Var = Sonar2Var / 10 'Get average

If Sonar1Var < 7000 And Sonar2Var < 7000 Then
    LeftClicks = LeftEncoder()
    LeftMotor (-75)
    RightMotor (-75)
    While LeftEncoder() - LeftClicks < 25
        DoEvents
    Wend
    LeftMotor (-50)
    RightMotor (50)
    LeftClicks = LeftEncoder()
    While LeftEncoder() - LeftClicks < 10
        DoEvents
    Wend
End If

If Sonar1Var + Sonar2Var < 20000 Then
    If Sonar1Var > Sonar2Var Then
        RightMotor (-25)
        LeftMotor (Sonar1Var / 300)
        Wait (500)
    Else
        LeftMotor (-25)
        RightMotor (Sonar2Var / 300)
        Wait (500)
    End If
Else
        LeftMotor (99)
        RightMotor (99)
End If

If Touch() = 1 Then
    Say ("Oops.  I bumped something on my right side")
    LeftClicks = LeftEncoder()
    LeftMotor (-75)
    RightMotor (-75)
    While LeftEncoder() - LeftClicks < 25
        DoEvents
    Wend
    LeftClicks = LeftEncoder()
    LeftMotor (-50)
    RightMotor (50)
    While LeftEncoder() - LeftClicks < 10
        DoEvents
    Wend
End If

If Touch() = 2 Then
    Say ("Oops. Hit something on the left")
    LeftClicks = LeftEncoder()
    LeftMotor (-75)
    RightMotor (-75)
    While LeftEncoder() - LeftClicks < 25
        DoEvents
    Wend
    LeftMotor (50)
    RightMotor (-50)
    LeftClicks = LeftEncoder()
    While LeftEncoder() - LeftClicks < 10
        DoEvents
    Wend
End If

If Touch() = 3 Then
    Say ("Rats.  Hit it head on.")
    LeftClicks = LeftEncoder()
    LeftMotor (-75)
    RightMotor (-75)
    While LeftEncoder() - LeftClicks < 25
        DoEvents
    Wend
    LeftMotor (-50)
    RightMotor (50)
    LeftClicks = LeftEncoder()
    While LeftEncoder() - LeftClicks < 10
        DoEvents
    Wend
End If
    
Wend

End Sub
----------------------------------------------------------------

Private Sub Form_QueryUnload(Cancel As Integer, UnloadMode As Integer)
MSComm1.PortOpen = False
End Sub
----------------------------------------------------------------
Private Sub Turn_Light_Click()

Dim StartDir As Integer
Dim BrightestDir As Integer
Dim Highest As Integer

Say ("I am looking for light.")

StartDir = Compass() 'What direction are we starting in?
BrightestDir = StartDir 'Initially StartDir is brightest direction
Highest = Photo()  'Light reading for StartDir

LeftMotor (50) 'Rotate clockwise at half speed
RightMotor (-50)

For x = 1 To 8 'Rotate 360 degrees and take light readings each time compass changes
    Do
        DoEvents
    Loop Until Compass() <> StartDir
        StartDir = Compass()
        If Photo() > Highest Then
            Highest = Photo() 'Stores brightest value
            BrightestDir = Compass() 'Stores compass heading of highest
        End If
Next x

Do
    DoEvents
Loop Until Compass() = BrightestDir

LeftMotor (0) 'Should stop motors

Say (Direction() & " is the brightest direction.")

End Sub